When enabling the esp32_ble_tracker component, esphome interface (and the docs) says you have to download and flash the binary because OTA won’t work because it has to resize a partition. (stating it that way because I use a remote computer away from where esphome runs and this is the method I use for all first flashes)
Do you use the same cli command you normally would for esp32? for example, esptool --port <port> write_flash 0x1000 filename.bin?
Google doesn’t have a lot on this very specific query 
LOL