If you use the Arduino IDE to program the ESP32, you might be interested in [Andreas Spiess’] latest video (see below). In it, he shows an example of using all three ESP32 UARTs from an Arduino ...

esptool.js Serial port WebSerial VendorID 0x1a86 ProductID 0x7523 Connecting...Debug: using Classic Serial Reset Debug: _connect_attempt default_reset Debug: Sync ...