To publish for M5 Loader/Burner, you need to merge your firmware:
esptool.py --chip esp32 merge_bin -o merged_firmware.bin --flash_mode dio --flash_size 4MB 0x1000 bootloader.bin 0x8000 partitions.bin 0x10000 firmware.binyou will see the log of the filenames and offsets when you run pio run -t upload