Like most manufacturers, Espressif have their own development boards, but they're not widely sold. The ESP32-S2 variant, the Saola-1, is actually very affordably priced, only ~£5 and on release I considered buying some but the postage from any of the stockists was double the board cost.
Given I was ordering something else already that took me over the free delivery threshold, I tacked a couple of these onto my order. Now I have some boards that are easier to work with than the module programmer, which is nice but not really breadboard friendly.These official development boards are well made and 'just work'. They're reminiscent of the original NodeMCU, slightly too long for a mini-breadboard and with nice sturdy tactile buttons connected to the reset and GPIO0 for programming. Not that you'll need them, auto-reset/program works like you'd expect.