I have attached the schematic for the ESP32 dev board. If you move the parts in the "Micro USB 5V&USB-UART" box to your bootstrap board and make connections of GND, TXD, RXD, EN and IO0 to your main board it will allow programming and serial coms through the USB socket. With it disconnected you can use the pins for other purposes. The CP2102N needs a 3.3V supply, ideally the same supply line as the ESP32 so the logic levels exactly match but that means an extra connection to the bootstrap board to carry 3.3V to it. If you want to, use a second AMS1117-3.3 to generate 3.3V from the USB 5V supply on the bootstrap board itself.
No harm will come from linking the input and output of the AMS1117 together but beware that the ESP32 WILL be damaged if more than about 3.6V is applied to it so I would not recommend you do it.
Brian.