We primarily recommend using the ESP32 Feather with Arduino.
Check out the Espressif Arduino repository for details on how to install it
Don't forget you will also need to install the SiLabs CP2104 Driver
If you are using Mac OS 10.12.6 (Sierra) and you cannot upload with the latest Mac OS VCP driver, please try the legacy v4 driver below. Note you will need to uninstall the v5 driver using uninstall.sh (in the driver package)
Once installed, use the Adafruit ESP32 Feather board in the dropdown
For Upload speed we've found 921600 baud works great.