Ah, I figured it out. I needed to add USEMODULE += stdio_usb_serial_jtag to the Makefile according to this note in the API documentation: STDIO over ESP32 Debug Serial/JTAG
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Ah, I figured it out. I needed to add USEMODULE += stdio_usb_serial_jtag to the Makefile according to this note in the API documentation: STDIO over ESP32 Debug Serial/JTAG