Try the following troubleshooting steps in Cannot debug esp32 - #10 by maxgerhardt (that is, lower adapter speed, recheck all JTAG wiring, update tool-openocd-esp32 manually, use a different board_debug.openocd_board file in the platformio.ini, check flash voltage (3.3V vs 1.8V)).
“update openocd” issue: Update openocd · Issue #413 · platformio/platform-espressif32 · GitHub