A fatal error occurred: failed to connect to ESP32: Timed out waiting for packet header

This error is common

Why?

Because it is the first time you are using the ESP32 board. And you don’t know how to use it? It is not like Arduino board

So, here are the steps to upload a code into the ESP32 board

step #1:  first press the BOOT button and hold it while holding the BOOT button with one hand then click the upload option from the Arduino ide

meanwhile, the code will get compiled but you need to hold the BOOT button

step #2 release the BOOT button when you see connecting ……… or something like the below image