Use the Web Installer - there isn’t an app like Arduino – you need an ESPFlashing tool but the Web Installer is easiest.

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The ESP32 should automatically go into flash mode without needing to put it into flash mode. There should be an IO0 button which puts the device into flash mode by holding it while connecting the USB.
Having said that, the most common reason why it’s unable to flash from the Web Installer is something else using the COM port to the device (terminal software for example).
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It depends on your version of ESP32Cam but on most ESP32s it’s the button to the left of the microUSB connector.
The best way is to reboot the computer with the device unplugged. Go to the Tasmota website then open the Web Installer and then plug in the device. It might be that the mac is connecting to the USB in some way which is blocking the COM port
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I think the problem is that you ‘downloaded the drivers for the ESP32Cam’ so the mac is seeing it as a camera.
I’m not a mac person. In Windows there is Device Manager which tells you what devices are connected. If your device is connected as a camera you can’t flash it. It needs to be connected as a COM port