In JTAG Debugging the ESP32 with FT2232 and OpenOCD I have used a FTDI FT2232 breakout board to JTAG debug with OpenOCD. With an adapter board on top of the TDI FT2232 the wiring is much easier and simpler to use:
The wiring includes a JTAG header with pull-up and pull-down plus an UART header:
The board hooks on the FTDI breakout board and makes a debug and UART connection to the target board:
The KiCAD project and files are available on the GitHub site noted in the Links section.
Happy Debugging 🙂