It depends on how you want to run it, but I can see now more what you mean. Type "esp32 minimal circuit" into Google and you'll find wiring diagrams, pins are connected differently for programming, differently for normal operation, and some pins have common settings - e.g. RST and EN (here there is only 1 pin, in ESP8266 there were separate ones) always 10k to VCC, GPIO0 pin to GND or to VCC via 10k. Some modules, because it is not a bare chip after all, have selected resistors connected and this can be verified with a multimeter. There is also a ready-made "ESP32 PLATE ADAPTER" and on it there are prepared places for two resistors to be pulled up to VCC and two buttons, one to do RST the other to possibly activate programming mode. This is what your own "minimum" board should look like.
Helpful post? Buy me a coffee.