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For TWR Rev2.1, there is no need to distinguish between UHF or VHF, you can write directly to twr_Rev2.x.bin or twr_Rev2.x.uf2
TWR Rev 2.0 can also be written to twr_Rev2.x.bin or twr_Rev2.x.uf2. The default is UHF. UHF or VHF can be selected through the menu.

1️⃣ Regular firmware

FileName	Firmware
twr_Rev2.0_uhf.bin	firmware
twr_Rev2.0_vhf.bin	firmware
twr_Rev2.x.bin	firmware
twr_gps_debug.bin	firmware

How falsh *.bin file ?

2️⃣ TinyUF2 firmware

FileName	Firmware
tinyuf2_bootloader.bin	firmware
twr_Rev2.0_uhf.uf2	firmware
twr_Rev2.0_vhf.uf2	firmware
twr_Rev2.x.uf2	firmware
twr_gps_debug.uf2	firmware

To use TinyUF2, you need to burn tinyuf2_bootloader.bin first. After the burning is completed, a disk will pop up. Drag firmware.uf2 into the disk.

How to use ArduinoIDE to flash firmware again?

After using TinyUF2, a virtual port will be generated and cannot be written directly using ArduinoIDE. The TWR must be put into download mode before the actual physical port will be displayed.

How to put TWR into download mode

Press the PWR button for one second to make sure the TWR is powered on
Press and hold the BOOT button (without releasing it), then press the RST button, then release the RST button, and finally release the BOOT button
Click the upload button in the IDE and wait for the upload to complete
Press the RST button to exit the download mode