One of the advantages of the new ESP32-S2 processor is that it offers a USB OTG interface. So far few boards took advantage of the extra interface, and one of the rare ones is Cucumber ESP32-S2 board with a USB-C OTG port.
There's another option with a slightly unusual form factor thanks to Stetel Things' Maia ESP32-S2 development board with the typical USB-C port for power and debugging, plus a micro USB OTG port, and a small prototyping area.
2 Euros not included ;)- Click to Enlarge
Maia ESP32-S2 development board specifications:
- SoC - Espressif