Programming the internal flash on the ESP32-D2WD

[Gip-Gip]

I'm currently planning on using an ESP32-D2WD for a small model rocket telemetry board, hence why I need to use the standalone chip(everything needs to fit in a 10mmx60mm rectangle). I'm just curious what programmer I should use to write to the chip: I have a basic understanding of the software, just not sure which hardware I should use

[WiFive]

Esp-prog. You don't want to use esp32-pico?

[becorey]

Esp32 pico with it's integrated crystal and flash will be smaller than standalone chip

[Gip-Gip]

Esp-prog. You don't want to use esp32-pico?

You wouldn't happen to know which pins connect to which on the ESP-W4WHD? (Just realized the D2WD uses 1.8v on the VDD_SDIO)

I can guess all of them except ESP_IO0, which I want to assume is GPIO0, but I may be wrong

Manual I'm looking at is linked here: https://media.digikey.com/pdf/Data%20Sh ... rd_Web.pdf