In our experiments this worked differently with different JTAG debuggers (e.g. Segger J-Link vs Olimex), so we would advise trying both to see which one works with your device.
Ok, thanks, I’ll try and put a bit of flexibility in my design.
I think I saw another post by your team where you recommended the Olimex ARM-USB-OCD-H for esp32. Is that still a good choice and what configuration of pins worked best for that model?
Yes, any FT2232-based JTAG adapter (including Olimex ARM-USB-OCD-H) should work. For the exact pin configuration, please refer to the tutorial for the board you are using.