It's important to use the "Arduino ESP32 Boards" core by "Arduino" and not the "esp32" core by "Espressif Systems". For Windows users this is paramount, otherwise no drivers will be ever installed and no debugging can be performed.
I am very sorry, friends, I was busy before, and I have purchased a development board without ch340 directly connected to USB. I expect to arrive in a few days, and then I will continue to try to use the debug function.
I am very sorry that I still cannot use the debug function at present. At the beginning, I encountered an error that I could not connect to the device, so I ran the following command in PowerShell to solve it. However, there were two other problems that I could not solve for the time being.
Invoke-WebRequest 'https://dl.espressif.com/dl/idf-env/idf-env.exe' -OutFile .\idf-env.exe; .\idf-env.exe driver install --espressif
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