I can confirm that the workaround "Connect G0 pin to GND" works for me on Catalina 10.15.2. I am now able to write to the m5StickC wheras before it was stuck connecting eventually throwing the error "A fatal error occurred: Failed to connect to ESP32: Timed out waiting for packet header". I am able to reproduce this on two m5StickCs. It's worth noting this is without any 3rd party drivers and after only following the steps given here - https://docs.m5stack.com/#/en/quick_start/m5stickc/m5stickc_quick_start_with_arduino_MacOS
Has there been any progress on resolving the issue?