Recovering from a bad flash of the U64E2

[Gee-64]

Before bricking the U64E2 board for the first time (just a matter of time :-) I was wondering what procedure could be used to recover from a bad flash of

1. FPGA bitstream (can't build it, but can destroy it with a bad update anyway)
2. Main RISC-V firmware (my specialty when it comes to bricking...)
3. ESP32 firmware (wifi, but also power control - thus critical)

If any of these three components break an alternate flashing procedure is needed.

I noticed some things of interest

1. "Console" - assuming the normal ITU UART (debug log). Likely not useful for recovery.
2. J14/ESP32 (USB-C) - Connect to dev PC USB and do "cd software/u64ctrl; idf.py flash" to re-flash ESP32 of a bricked board?
3. P88 (unpopulated pin header, pin 1 square). Next to ESP32 module...?
4. A bunch of test points, mostly on the FPGA board, but a couple on the main carrier board as well. JTAG?
5. P9 jumper

Any insight here would be much appreciated @GideonZ.