Burning the USB_PHY_SEL eFuse appears to be what is needed here. With this fuse enabled, the board does not pull-up the USB data line until USB is activated by the application.

On the esp32s3 chip, is it possible to completely disable USB functionality during ROM boot, so that the USB pull-up on GPIO 19/20 is not enabled until after the application starts and initializes the TinyUSB driver? I would like to implement a USB HID device with a custom descriptor, and I would li...