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In order to get this working for an ESP32S3 board I needed to do the following:
created an empty main/linker.lf file
added sdkconfig.idf52 to mpconfigboard.cmake
run idf.py add-dependency espressif/esp_tinyusb before compilation
compilation: idf.py build -D NINJA_FLAGS="-j 2"
I also have a question: After compilation I do not get a combined firmware image in the build folder. How or where could I change this, so that also a combined firmware.bin file is created?