I followed the above instructions and it worked:
- Hold Boot Button down
- Plug in USB cable to XIAO ESP32C
- Release Boot Button
- Upload sketch
- Press Reset Button
However, I had to do this with every upload.
- Plug in USB cable to XIAO ESP32C
- Hold Boot Button down
- Press and release the Reset Button
- Release the Boot Button
Now the XIAO ESP32C will upload normally.