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
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.