I am using IDE 2.1.0 and esp32 _DEVKitc_v4 board.
What board should I select in the IDE for compiling.
I think you could try the "ESP32 Dev Module" or "ESP32 Wrover Module".
Since you havent provided a link I cant be certain exactly which "esp32 _DEVKitc_v4 board" you have. There are a LOT of "ESP32 devkit" boards.
as it says
IMPORTANT NOTE: There are many different versions of this board so you WILL need to check that you have the right pin connection layout.
I have a few different versions and they all load fine on IDE2 using the "ESP32 DEV module" option
however
At first the Arduino IDE was not able to program the ESP32- the USB port was not showing
so the board did not appear to be connected. In Windows Device Manager - Ports it was showing a faulty driver "CP2102".
I downloaded the driver from the SiLabs website and after installing the usb port now showed in DevMan, and the IDE was able to program the board..
Note: you need to hold down the "boot" button on the board while uploading a sketch,
or connect a 10uF cap between the EN pin and GND
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