IMPORTANT It is possible to program the ESP32S3 without an external programmer!!!! It is not necessary. Just read 20231030 - ESP32S3 build in debug tool

I want to design a PCB with a ESP32 and a JTAG interface.

• Pinout connector to JTAG interface, take a look to the pins of MTDO and these becaue it can change between versions of the board.
• Datasheet of ESP32-S3, take a look to page 25 where is explained the pinout

Conclusion after usage

I built a pcb 20230322 - InsiSat 1 - COMMS, and I put both interfaces. However I am not able to launch the debuger, and it is not that common to use the debugger. To upload code it is used the protocol from spressif. My recomendation for the next design is to put only the programmer and testpoints for the connection of the debugger, and connect directly a USB cable that is supported in the ESP32S3. With this idea only one cable is necessary to program it.