That Tools > Partition Scheme menu is a custom board option, meaning it is defined on a per-board basis. For some reason, certain of the ESP32 boards have this custom board option, but not all of them. So if you were to select something like Tools > Board > Robot Zero One, you would then see that menu appear.
The ESP32 Dev Module in the Board Manager has that option, so maybe you could use that to program the ESP32 instead, but i am not too sure if it supports your board as the firmware / hardware might be different