Installing ESP32 bootloader from scratch?

I’m going to have some boards manufactured, likely with ESP32 as I am most familiar with those now. Showing my age a bit here but when I was working with the old microcontrollers we had to put them into a programmer to install bootloader (and or load the code). How does that process work with a fresh microcontroller? I’m assuming the Thing Plus dev boards come preloaded with the bootloader?

FYI: I did buy a JTAG interface from Espresiff. Not sure if that would be utilized?

https://docs.espressif.com/projects/esp-iot-solution/en/latest/hw-reference/ESP-Prog_guide.html