JTAG == TCK,TMS,TDI,TDO
https://www.electrodragon.com/product/esp-prog-board-for-esp8266-esp32/
kit - NWI1186-dat
ESP USB Bridge
The ESP USB Bridge is an ESP-IDF project utilizing an ESP32-S2 or an ESP32-S3 chip to create a bridge between a computer (PC) and a target microcontroller (MCU). It can serve as a replacement for USB-to-UART chips (e.g. CP210x) or a debugger.
The ESP USB Bridge provides a JTAG device. The following command can be used to connect to an ESP32 target MCU.
idf.py openocd --openocd-commands "-f board/esp32-bridge.cfg"