My own pcb with Arduino IDE

[Hiroci]

If I design my own board with the esp32, how can I program it with the Arduino IDE

[Agree007]

Assuming you pcb have the required usb port, then connect it to you pc with Arduino ide (with esp32 support setup) select the esp32 module closest to your own module, that will work unless you board are very special.

[lbernstone]

If you don't intend to have a USB connector, put a 6 pin header on the board with 3V3/En/Gnd/Rx/Tx/IO0 and use an external CP2102 USB->UART adapter like https://www.aliexpress.com/item/2035365243.html