How to select which esp-prog device to use for debug

I want to debug 2 esp32 modules with 2 esp-prog boards. What do I need to change in setup files to define which board is used by which project/debug session?

On my other platforms there is usually selection of j-tag device by its serial number for a debug configuration, but those are gui eclipse IDEs so it is quite intuitive.

How can I do the same in platformio for VS code on windows?
It woks with single one with following setup:
platform = espressif32
board = esp32dev
framework = arduino
debug_build_flags = -O0 -ggdb3 -g3
debug_tool = esp-prog
debug_init_break = tbreak setup

This is similiar to the selection of an ST-Link / HLA adapter by its serial number discussed in

just that for esp-prog adapters, which are based on FTDI FT2232H chips, you have to use the adapter serial command