Install Arduino IDE 2.3.6

link

Add esp32 Board and build

1. File -> Preferences -> Additional boards manager URLs -> https://espressif.github.io/arduino-esp32/package_esp32_index.json
2. Boards manager -> search esp32 by espressif systems -> install
3. Select board DOIT ESP32 DEVKIT V1
4. Verify then Upload
5. Open nRF Toolbox to connect by HRS

Demo on nRF Toolbox

Reference

link