How to imlement Arduino Bootloader on RT2040 custom PCB

I would like to design a custom PCB using RT2040 controller, but need to write the firmware using Arduino IDE. I would hence need to use the Arduino bootloader and was searching for ways to do this. I cam across this post:

but unfortunately haven’t found a proper blog regarding how to use Arduino IDE on the custom PCB. I also want to know if the bootloader will be already present in ROM and I only need to add a USB port on the custom PCB to burn the bootloader?

This may help

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