We are not sure why the USB Debugging did not work on your machine (Correct board, wiring, driver, OpenOCD Version, board.txt entries etc..), but for some reason it could never connect to your board.  Running the OpenOCD command directly in cmd always resulted in the error "Error: esp_usb_jtag: could not find or open device!".  It may be worth trying on another PC if you have one?

When we then moved to trying the JTAG debugging approach using the ESP-PROG, you burned the SOFT_DIS_JTAG fuse instead of either JTAG_SEL_ENABLE (which wasn't available), or the DIS_USB_JTAG (which is available) as we documented.  We have amended the image showing the fuse summary on this page in case this confused things, the instructional text remains the same.

As discussed we have not tried the SOFT_DIS_JTAG fuse, and the Espressif documentation seems to suggest the 256-bit HMAC secret key needs to be burned before the SOFT_DIS_JTAG fuse to then use the software to re-enable JTAG.

The choice of debugging options coupled with the delicate and potentially permanent fuse burning process for the ESP32C3 can make it difficult to get up and running, hence suggesting the USB route initially. This is all implemented by Espressif and we are just the glue between the components supplied by them.

Thank you for the detail and patience working through this with us, and let us know if you have any luck with the USB debugging on a different machine, however the SOFT_DIS_JTAG fuse may have also affected that on the board(s) with the fuse burned.