Erasing factory firmware on esp32 with jtag?

[Nygmaquest]

Hi,

hopefully this is the correct forum category for this.

I want to use jtag with esp-prog to program and debug my esp32 wroom modules (with platformIO), but sadly they all come preloaded with a firmware from the factory which makes use of the pins that are needed for the JTAG protocol.
This means that every time I want to use a new esp32 module I first have to use something like FTDI and program it over serial, in order to erase the factory firmware, and then the JTAG starts working.
This is a bit of a pain, since I would much prefer being able to only use jtag and not be forced to first use serial to erase the factory firmware, before i can start using JTAG.

So my question is, is there any elegant solution where I can erase the factory firmware with my esp-prog, thus enabling the use of jtag?