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programming the custom esp32 board

I have made a custom esp32 board. For schematic, i have used sparkfun link-https://www.sparkfun.com/products/15006
The problem is- the arduino code is not uploading on the custom esp32 board. So, how i can upload the code on esp32?
Is arduino bootloader is required first for bootloading the blank esp32? If yes, then what is the procedure for uploading the arduino bootloader on esp32?
 

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