Pin assignment is only needed for ESP chips that have a USB-OTG peripheral. If your board doesn't have a USB connector connected to the USB-OTG dedicated GPIOs, you may have to DIY a cable and connect D+ and D- to the pins listed below.

ESP BOARD       USB CONNECTOR (type A)
                   --
                  | || VBUS (5V)
[USB_DM]  ------> | || D-
[USB_DP]  ------> | || D+
                  | || GND
                   --

USB PHY pin mapping

	USB_DP	USB_DM
ESP32-S2/S3	GPIO20	GPIO19
ESP32-P4 2.0	pin 51	pin 50
ESP32-P4 1.1	GPIO27	GPIO26

Note: On the ESP32-P4, the USB 2.0 PHY pins are dedicated to USB-OTG functionality and cannot be used as general-purpose GPIOs.