Issues with normally using and programming Feather ESP32-S3

I have made it for the Feather ESP32-S3 to be programmed through PlatformIO, but a huge and annoying issue still persists. Instead of being able to program the ESP32 without problems, I always need to change between normal and BOOTLOADER mode to upload my code. This really make things annoying and doesn’t allow me to just upload and test what I wrote.
Is there a real solution for this?