Error: JTAG scan chain interrogation failed: all zeroes
Every instance of that error I’ve seen it was an issue with
- the wiring (e.g., broken or poor-quality cable)
- or debug speed too high
- jumpers not set correctly on development boards, causing the signals to get through to the ESP32
See e.g. ESP32 & PIO Unified Debugger and Error ESP32 PROG
Full platformio.ini? You have e.g. debug_speed = 500 in there as a test?