ESP32 Thing Plus Hookup Guide
The ESP32 Thing Plus ships without anything soldered into the header pins -- ensuring that you can mold the board to best fit your project. To use the chip's pins you'll need to solder something to the I/O and power rail vias broken out to either side of the board.
What you solder to the ESP32 Thing Plus's I/O pins is completely up to you. The header rows are breadboard-compatible, so you may want to solder male headers in.
Then plug it into the breadboard, hanging the USB and LiPo connectors off the end, and start wiring!