Can ESP32 work with UART0 and UART1 at the same time?

[nissim@TelnT.com]

It seems that is some confusion on UART1 and UART0 of ESP32 and its function.
On the ESP32 hardware design guide,
https://goo.gl/uWVdKY it stated on Table 4:

UART0 (Pin34) U0 RXD + (Pin35) U0 TXD Used for printing logs.
UART1 (Pin25) U1 RXD + (Pin27) U1 TXD Used for receiving and sending commands.

Since UART0 is used for sending commands I believe it an error in documentation. Maybe need to switch definitions.

My question: can ESP32 UART0 (ESP32 pin34 +pin35) connected to USB for command flashing etc, and UART1(pin25+pin27) can connect to other MCU and both will work on 100% on the same time?
On this forums, I see some place that UART1 uses same buffers or driver as UART0, so UART1 can't work when UART0 is in used.

[WiFive]

They can work at the same time.

In AT firmware UART1 is default for commands and UART0 is for debug. In user application you can do whatever you want.