Pretty much all ESP32 dev boards with a WROOM-32 will work. The only difference that selecting a certain board does for the e.g. Arduino core is that it gives you different default pins. (Have a look at the different variants in the Arduino core and how little difference there is between them).
So really, you should try a normal “Espressif ESP32 Dev Module” (board = esp32dev) first, and it will very likely just work. You still of course have all the documented customization options available to fine-tune.