Select your ESP32's serial port. Pick Tools --> Board --> ESP32 Arduino --> Node32s.

Open the firmware. Change the SSID, password, Gateway, and Subnet to fit your router configuration. Pick an IP address that's unused, preferably outside your router's DHCP range. Pick a recv_port, ideally above 16000.

Upload the firmware. Allow the ESP32 to reboot and connect to the network.

Go to Tools --> Port and look for a Network Port. If you see your selected IP address, you're ready for OTA updates! Your USB cable is no longer necessary.

If you don't see your device, I dunno. Ask on the Voidstar Lab Discord!