Hi there,
Take a look at the links and see with the correct probe it’s a 1-click debug 
You can use usb-proggy or jlink it’s the jtag method to upload and debug AFAIK.
https://docs.platformio.org/en/latest/boards/espressif32/seeed_xiao_esp32c3.html
https://docs.platformio.org/en/latest/boards/espressif32/seeed_xiao_esp32s3.html
HTH
GL 
PJ