Aside from making your own footprints (which is simple for devices like this that are just two row of pins), you can get them for common development boards easily enough online.
For example, SnapEDA has this for the ESP32: https://www.snapeda.com/parts/ESP32-DEVKITC-32D/Espressif%20Systems/view-part/
Which includes the footprint, symbol and a 3D CAD model. You can find similar files for many common boards.
In any case, be sure to double check any footprints you download against the datasheet before you order boards. You will save your self a lot of frustration.
As for that breakout board, since you are making your own PCB, you probably don't need it. You can simply use the footprint (included in KiCAD) for the underlying IC and put it onto your board directly. This is more simple, more compact and cheaper.