I had this issue with just 1 esp32 wroom dev board. It was the only board I have seen with that issue after using dozens of esp32 wroom boards. The fix was fairly simple and seems to be reliable. The unit has been powered down/up dozens of times in the last few days. Just bridge the vin (5v) to GPIO...

"Add a 10K resistor between BOOT (GPIO 0) and Vcc." - This worked for me. Previously wasted time with a capacitor between EN and ground, and also a 100k resistor between GPIO 0 and 3.3v. Nothing worked until I connected the 10k resistor between GPIO 0 and VCC (5v).