Pin assignment is only needed for ESP chips that have a USB-OTG peripheral. If your board doesn't have a USB connector connected to the USB-OTG dedicated GPIOs, you may have to DIY a cable and connect D+ and D- to the pins listed below.

ESP BOARD          USB CONNECTOR (type A)
                          --
                         | || VCC
[USBPHY_DM_NUM]  ------> | || D-
[USBPHY_DP_NUM]  ------> | || D+
                         | || GND
                          --

Refer to soc/usb_pins.h to find the real GPIO number of USBPHY_DP_NUM and USBPHY_DM_NUM.

	USB_DP	USB_DM
ESP32-S2/S3	GPIO20	GPIO19
ESP32-P4	pin 51	pin 50

Note: On the ESP32-P4, the USB 2.0 PHY pins are dedicated to USB-OTG functionality and cannot be used as general-purpose GPIOs.