Ardoino IDE > File > Preferences: Add http://arduino.esp8266.com/stable/package_esp8266com_index.json to Additional Board Managers (separate entries by comma).
Select ESP32 Wrover Module
Ardoino IDE > File > Preferences: Add http://arduino.esp8266.com/stable/package_esp8266com_index.json to Additional Board Managers (separate entries by comma).
Select ESP32 Wrover Module