Whether the Arduino-ESP32 framework uses hardware UART or USB-CDC as Serial depends on the value of the macros
So ARDUINO_USB_MODE can either be 0 or 1 (for either hardware USB-CDC or TinyUSB) but ARDUINO_USB_CDC_ON_BOOT must be 1.
Some board = ... selections preselect the value for you,
while others do not.
So as a first try, add
board_flags =
-DARDUINO_USB_CDC_ON_BOOT=1
in the platformio.ini and reupload the firmware.