Hello Gayrat, thanks for the suggestion!
Right now I already have other Units to are going created for the ESP32 course. I recommend taking a look at this tool that works with PlatformIO IDE: https://docs.platformio.org/en/latest/plus/debugging.html
That tool works with the ESP32 too and different boards in the same way.
Do we need a JTA debugger card or else for this?
Exactly, for debugging you should use an hardware JTAG board like this: https://www.banggood.com/Espressif-ESP-Prog-Development-Board-JTAG-Debug-Program-Downloader-Compatible-For-ESP32-p-1436273.html?p=MA240439985285201910&cur_warehouse=CN
This video will also help: https://youtu.be/TivyIFF-dzw