The documentation for the ESP32-S2-KALUGA-1 hardware currently states that no on-board debugger is present, but this board is actually the one that Espressif recommends
Separate from the documentation, I've submitted a PR to the espressif32 platform repo as well to update the ESP32-S2-Kaluga-1 board definition in order to enable use of the onboard debugger.
The documentation for the ESP32-S2-KALUGA-1 hardware currently states that no on-board debugger is present, but this board is actually the one that Espressif recommends
Separate from the documentation, I've submitted a PR to the espressif32 platform repo as well to update the ESP32-S2-Kaluga-1 board definition in order to enable use of the onboard debugger.