Using arduino-cli

Install the board

arduino-cli config add board_manager.additional_urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
arduino-cli core install esp32:esp32

Get board details

On Windows 11 board should be showing as esp32:esp32:XIAO_ESP32S3 but instead shows as esp32:esp32:nora_w10

If the board is showing as esp32:esp32:XIAO_ESP32S3 modify the commands below

arduino-cli board list
arduino-cli board details -b esp32:esp32:nora_w10

Compile and upload

Change COM6 to the port name from the board list output

arduino-cli compile -u -p COM6 -b esp32:esp32:nora_w10:PSRAM=opi