I added the ESP32 as a New Device, entered the SSID and Password for my home network, and saved the Encryption Key to my Vaultwarden container, in case I need it later.

Their earliest draft of an ESP32 module, called the ESP3212, has been scrapped and replaced with the ESP-32S, with a pinout that’s identical to Espressif’s WROOM32, according to [Angus Gratton ...

We can see that the larger antenna footprint will require some thought in PCB design, but otherwise the module has the same pinout as the existing WROVER.