If by any chance, the JTAG from the wrover kit does not work it might be because the TCK pin is bridged with GND underneath the ESP32 module. After searcing a bit I did found out that I'm not the first that encountered this problem.

The following error code is presented by OpenOCD:

Error: JTAG scan chain interrogation failed: all ones

The solution is to desolder the module and remove the short-circuit. The LCD screen needs to be removed first to avoid damage.

ESP module removed

When soldering the LCD back make sure that you have the correct orientation for the band connector.

All done!!! I decided to solder a new wroover module instead.