Seems like the same error described in Issue with ESP32: JTAG scan chain interrogation failed - #10 by ThomasW6924 for the Wrover kit.
Have you set all requiered jumpers (especially JP2) per https://docs.espressif.com/projects/esp-idf/en/latest/hw-reference/get-started-wrover-kit.html#get-started-esp-wrover-kit-v4-1-setup-options?