DigiKey doesn’t say anything about the ESP32-WROOM-32D being NRND. You have to visit the Espressif website to see that. The recommended version is the ESP32-WROOM-32E. With that said, I agree that I’d design a new product around the ESP32-S3 instead.
As for how to proceed: go to the Espressif website and look at the evaluation boards (“devkits”), for example ESP32-S3-DevKitC-1 for the S3 or ESP32-DevKitC for the original ESP32, or to vendors like Adafruit (for their ESP32 Feather series), Olimex, DFROBOT, etc. They all make similar evaluation boards (with various features) as open-source designs with full schematics, etc. available.
IMHO there’s no better way to get a good idea than to look at what the vendors themselves do. Study their designs and modify as needed.