请问ESP32-C3和ESP32-S2或WROOM系列是否支持单步调试？

ESP32-C3-DevKitM-1或者ESP32-S2、ESP32-WROOM-32D目前能够进行单步调试吗，官方文档中，C3芯片中英文版的Programming Guide说法上有些出入

中文版描述只有ESP-S2-Kaluga-1板载了JTAG调试接口，而英文版说ESP32-C3可以直接用USB进行调试：“This is made possible by the ESP32-C3 chip itself, which provides two USB channels, one for JTAG and one for the USB terminal connection. ”

另外，跟据Github上的说法似乎C3现在不支持openocd?

https://github.com/espressif/openocd-esp32/issues/158

:"OpenOCD has no flash support yet for ESP32-C3. It is disabled by default. It is planned for the next release.

So for now you need to use idf.py or esptool.py directly to program esp32c3."

几个说法比较杂乱，请问ESP32-C3和ESP32-S2或WROOM系列是否支持单步调试