In Windows there are generally no permission issues, but after setting up VS Code and the platformio-extension, before connecting the board, you want to install the USB-driver by Espressif:
Get a powershell and download the driver installer as described by Espressif
Invoke-WebRequest 'https://dl.espressif.com/dl/idf-env/idf-env.exe' -OutFile .\idf-env.exe; .\idf-env.exe driver install --espressif
Then confirm the install
In Linux, you will not require extra drivers, but make sure you have libusb and openocd installed. (the toolchain brings its own OpenOCD, but the system provided one generally creates the proper udev rules so you can access the devices as non-root, tested on Fedora) If this is not the case for your distro, follow the guide by Espressif.