Hello, can you please read this section “4. A fatal error occurred: “Failed to connect to ESP32: Timed out… Connecting…””: https://rntlab.com/esp32-troubleshooting-guide/

It shows exactly why that happens and how to fix that problem (basically you have to hold down the BOOT button when you upload a new code to your ESP32).

You can also try to follow this tutorial to fix that problem: https://randomnerdtutorials.com/solved-failed-to-connect-to-esp32-timed-out-waiting-for-packet-header/