The ESP32 Xtensa cores and FreeRTOS OS provides a lot of programming power but debugging without proper debugger can be really hard when all you have are printf statements, especailly when dealing with multiple threads across the cores.  Providing a JTAG port and using a JTAG debugger gives you proper debugging access to the CPU.

Resources

https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/jtag-debugging/index.html

UK Electronic Designer
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