I heard about ESP 32 debug using JTAG, I follow this video https://www.youtube.com/watch?v=uq93H7T7cOQ. But release the board i have is different from this videos. Here is my board datasheet:

There is no port like (TCK, TDI, TDO,...).
The question is what wire i need to connect if i have a different board or just do like the videos say:
GPIO15 -> TDO
GPIO12 -> TDI
GPIO13 -> TCK
GPIO14 -> TMS
GND -> GND
Does port like GPIO15 on every ESP32 board act like TDO port ?