YMMV, but I have tried this several times and have found it very difficult without microsoldering equipment.
Some ESP variants have a built-in U.FL connector which makes things easier (e.g. AITHINKER ESP32-Cam and its many clones), but you still have to remove the 0Ω resistor, which I find very difficult with even the smallest tips on my Hakko iron.
Could be a skill issue on my end; should be much easier if you have a simple reflow/rework station.
Some ESP variants have a built-in U.FL connector which makes things easier (e.g. AITHINKER ESP32-Cam and its many clones), but you still have to remove the 0Ω resistor, which I find very difficult with even the smallest tips on my Hakko iron. Could be a skill issue on my end; should be much easier if you have a simple reflow/rework station.