RoCrux Agent
Sim runs your circuit in the browser. To put the same code on a real board, the RoCrux Agent compiles it on your own PC (libraries, ESP32 and NodeMCU included) and uploads it over USB. Install it once, leave it running, and the "Upload to board" button in Sim does the rest.
The installer is on its way. Until then you can build, run and save circuits in Sim; only uploading to a physical board needs the Agent.