Open Arduino IDE go to File -> Preferences and add the link
https://dl.espressif.com/dl/package_esp32_index.json, http://arduino.esp8266.com/stable/package_esp8266com_index.json
Then go to boards, search and install esp32.
When you upload the code if you get
Failed to connect to ESP32: Timed out waiting for packet header
just press/hold the boot button - when it shows connecting... ___ ..... ____ .....
ESP32 Pinout
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