Other Forums have reported errors trying to run JTAG with the WROOM that are fixed by getting the
more current version. Unless someone has made a tool change, it is a pain since after removing the installed version and installing the more current release from
https://github.com/espressif/openocd-esp32/releases
You will probably have to edit tools.json to reflect the name and hash of the updated version.
I am quite sure I was getting connect failures prior to updating my system. You will want the esp32 specific load of the tool for sure.