The quickest way to test any new microcontroller board is to make it blink its internal LED (if it has one). For most Arduino-based boards, that's setting D13 to "HIGH." But for the ESP32, that's going to depend on the hardware. For instance, the NodeMCU32S uses GPIO 2, but the ESP32-DevkitC has none. In that case, you can try making it send a message through the serial monitor, instead.