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Hiya!
I've recently put together a super-simple ESP32-S2 based dev board:
https://github.com/tylercrumpton/CrumpS2
The locally-compiled UF2 firmware seems to work well on the hardware, and I think I've covered all the pieces needed to add the board to CircuitPython! Please let me know if there are any other changes I need to make.
The PID/VID is currently requested from the pidcodes repo (#665), but hasn't been approved yet. If this CircuitPython PR needs to wait for that to land, that's understandable!
Thanks!