I’ve seen this error too when I hand-wired my ESP32 to my FT232H board – in that case I had a long wire connected to the reset pin (but not connected to anything else on the other line). It seems that the OpenOCD code still tries to check the voltage on the TRST line although it is mentioned in
that it is not used (reset_config none).
This also says the same.
A general countermeasure is also to lower the JTAG speed by writing e.g.
debug_speed = 500
in the platformio.ini.