I figured it out. Here's my situation for those of you reading in the future.

I am using a seeed studio esp32-c3 module with VS code IDF. which I assumed to have jtag because the IDE told me it was able to connect the JTAG.

The issue is that this board can not be programmed via jtag from the USB ...

I have the exact same problem. Were you able to find a solution?