There are several different options to choose from when buying an esp32 Modules. The most common ones I have come across are the following.

Espressif / AI Thinker

WROOM / WROVER

WROOM32U has the smallest footprint among all. WROVER comes with integrated 8MB PSRAM

ESPRESSIF ESP32 Modules

The footprints are different in size and positioning but can be managed in a breakout board so that both types of modules can be used.

I am planning to build my own custom breakout / development board.