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Bit of shameless plug, but I put this [0] together to make it easy to build a simple, flashable MicroPython image with your code included.

[0] - https://github.com/dcmorton/esp32-micropython-image-builder

Very soon you'll be able to mount a PC filesystem to appear on the device, so just make changes locally and they're reflected on the device. It's an exceptionally productive way to develop - I even prefer it to working with USB mass storage.

Some Python IDEs like Thonny and PyCharm can seamlessly do file transfers for you over serial. Thonny has actually been a great tool for that on ESP boards.

This was one of the reasons CircuitPython was forked from MicroPython. Adafruit wanted consistency across all the platforms they sold and one of the features they insisted on was the USB drive support to make it easier for the educational market they cater to.

I like this feature of Circuit Python too. An issue is that some boards don't have the USB hardware needed to make this work.