So, ESP-WROVER-KIT has a ESP32-WROVER-B module installed, but you are working with an ESP-WROOM-32 module which is a different openOCD target (esp32-wrover.cfg vs esp-wroom-32.cfg). I suggest you use the board = esp32dev configuration in the platformio.ini as a first debugging step to correct that.
Furthermore the debugger seems to be complaining that the device was reset? Is the power supply of the board stable? It was also observed that lowering the adapter speed can solve the problem (ESP32 + J-link debugger does not start - #12 by Yourigh).