Ah, I just realized I made a mistake in my post which I now can’t edit - I’m using the nRF52840 XIAO board, not the ESP32, whoops!
All I’m trying to do is get any kind of UART output such that I can use eg printk or print_uart and see the output on something like RealTerm or TeraTerm. I tried connecting pins 6 and 7 (if I could get output on the USB that would also be fine) but they don’t seem to work as-is. I’m currently working with the echo_bot example as a baseline, and using the default baudrate of 115200.