I found this debugger (https://amzn.eu/d/13eGHVq) on amazon. I couldn't find any "F2232H Dual RS232" device for sale.

Following the custom board setup guide, doing various google searches and getting help from Simon and Tim, this now works as a debugger and programmer.

I had t do the usual steps of installing the drivers with zidig etc..

there is a config file that already exist named um232h.cfg and that works for the RS232H chip on the JTAG.

The ESP32_WOOM_DA.debugger_launch.json looks like this:

{
  // GDB Project:  "$(ProjectName)"
  // Microsoft MI: https://github.com/Microsoft/vscode-cpptools/blob/master/launch.md#customlaunchsetupcommands
  // Visualizations: https://docs.microsoft.com/en-us/visualstudio/debugger/create-custom-views-of-native-objects?view=vs-2019
  // User Guide: https://www.visualmicro.com/page/User-Guide.aspx?doc=Arduino-gdb-Tutorial.html
  // Tips: To access resolved Arduino 3rd party hardware spec. properties, use $(variables) with the same name as the mi json prpperties
  //       To access Visual Studio macros and environment variables or hard code
  // This file is for advanced use. Please use the pre-configured built-in hardware debuggers where possible.
  //
  "serverLaunchTimeout": 5000,
  "filterStdout": false,
  "filterStderr": true,
  "targetArchitecture": "arm",
  "stopAtEntry": false,
  "externalConsole": false,
  "MIMode": "gdb",
  //"environment": [],
  //"customLaunchSetupCommands": [],
  "MIDebuggerServerAddress": "localhost:3333",
  "cwd": "$(buildPath)",
  "MIDebuggerPath": nsa-esp32-elf-gcc\\gcc8_4_0-esp-2021r2-patch3/bin\\xtensa-esp32-elf-gdb.exe",
  "MIDebuggerArgs": "-ex \"set remote hardware-watchpoint-limit 2\" -ex \"mon reset halt\" -ex \"flushregs\" -ex \"thb app_main\" -ex \"c\"",
  "debugServerPath": nocd.exe",
  "debugServerArgs": "-d2 -l p32da\\Debug/RS232HSTest.ino_DebugOpenOCD.log\" -s cripts/\" -f cripts/interface/ftdi/um232h.cfg\" -c \"set ESP32_RTOS none\" -f cripts/board/esp-wroom-32.cfg\" -c \"init\"",
  "setupCommands": [],
  "program": "$(program)",
  "logging": {
    "moduleLoad": false,
    "trace": false,
    "engineLogging": false,
    "programOutput": false,
    "exceptions": false,
    "traceResponse": false
  }

} 

and the board.txt like this:

# Amend the Uploader "FT2232H Dual RS232" to use the ftdi/um232h.cfg file for testing the FT232H Probe
tools.openocd.program.pattern="{program.path}/{program.cmd}" {program.verbose} -s "{program.path}/share/openocd/scripts/" -f "interface/ftdi/um232h.cfg" -f "board/{upload.openocdscript}" -c "echo -n {****[vMicro]**** Uploading App :}" -c "telnet_port disabled; program {{runtime.platform.path}/tools/partitions/boot_app0.bin} 0xe000" -c "echo -n {****[vMicro]**** Uploading Bootloader :}" -c "program {{build.path}/{build.project_name}.bootloader.bin} {build.bootloader_addr}"  -c "echo -n {****[vMicro]**** Uploading Sketch :}" -c "program {{build.path}/{build.project_name}.bin} 0x10000"  -c "echo -n {****[vMicro]**** Uploading Partitions :}" -c "program {{build.path}/{build.project_name}.partitions.bin} 0x8000 reset; shutdown" 

Then the cables connect as:
AD0 -> GPIO13 (TCK)
AD1 -> GPIO12 (TDI)
AD2 -> GPIO15 (TDO)
AD3 -> GPIO14 (TMS)
AC1 -> EN (this differs from AC2 on the FT2232H)