Unexpected Maker TinyPICO and ESP32-S3 boards ship with Bluetooth capabilities, but they differ in what classes you get and the version of Bluetooth LE supported.
See the chart below.
Bluetooth Low Energy (BLE)
CVSD and SBC
No Bluetooth Audio on the ESP32-S3?
The common Bluetooth audio that most people know is called A2DP and is part of the Bluetooth Classic class, which is not supported on the latest ESP32 chips (S3, C3, C6 etc).
There is a new BLE Audio standard, but it came out as part of BLE 5.3, which is newer than the BLE that shipped in the ESP32-S3.