https://micropython.org/download/esp32/
The choices seem to be between v1.19.1 (2022-06-18) .bin and v1.14 (2021-02-02) .bin.
The v1.14 (2021-02-02) .bin is compiled with IDF 3.x and I’m not sure what that means and if I want it.
You’ll have to dig through their documents, comparing the advantages/disadvantages for your project, and go from there