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File > Preferences > at the bottom "Additional Board Manager URLS" paste in this url https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
From there you will be able to search and add the ESP32 board library from the board library search bar. install the ESP32 library by Espressif and make sure you're using version number 2.0.5 or later. You will then be able to select your Bee Motion Mini from the board manager.
In order to program the Bee Motion you need to put it into download mode. To do so all you need to do is connect the USB-C cable and then press and hold the boot button. with the boot button being held down, press the reset button and release. then you can release the boot button. this will put the Bee Motion into download mode which will allow it to be programmed. Then for the board, select "Bee Motion Mini" from the board manager.