I had pads arranged like so as to pick up Bat+ and EN pads on an ESP32S3 Sense;
The pad holes were drills of 1.2mm for BAT+ and 1.4mm for EN.
I used a real fine SMT tip with 0.25mm cored solder and it worked just fine;
Thinking of adding pads to pick up the MTCK, MTDO, MTDI and MTMS pins as well for extra IO.