You should not see any local echo of the $ and enter. Once connected you should get the Grbl-prompt, which looks like this: Grbl 1.1f Type $ and press enter to have Grbl print a help message. Set the baud rate to 115200 as 8-N-1 (8-bits, no parity, and 1-stop bit).
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Click next and select the folder where you want to install the file.Contribute to bdring/Grbl_Esp32 development by creating an account on GitHub. The installation file can be also downloaded through the command line using wget.
From the grblControl software you can set them by sending these 3 commands (in order, X, Y, Z): hex file you downloaded from the grbl link above on Github Calibrate the X/Y/Z axis stepper motors so they move the correct amount.