Espressif can you check if the ESP32 Boot Mode is correct ? (it is extracted from different document / source code)
Sources:
- esp32-devkitc_getting_started_guide_en.pdf
- esp_wroom_32_datasheet_en.pdf => Table 4: Strapping Pins
- esp32_datasheet_en_0-1.pdf => §2.4 Strapping Pins
If you have more details on those mode it will be great too