Script that builds and flashes everything: https://github.com/jcmvbkbc/esp32-linux-build/blob/master/rebuild-esp32s3-linux-wifi.sh

What can be done after booting:

# ip link set espsta0 up
# iw dev espsta0 connect <ssid>
# udhcpc -i espsta0

# ip link set espsta0 up
# cat > /tmp/ws.conf <<EOF
network={
        ssid="ssid-name"
        psk="password"
}
EOF
# wpa_supplicant -i espsta0 -c /tmp/ws.conf &
# udhcpc -i espsta0

Alternatively conf file may be generated with the wpa_passphrase program.