It may well be wrong for the bootloader's report - I doubt it uses anything as retro as 9600.
I think the ESP8266s used something a little off the beaten track, like 74880 (I have COVID and my brain is a little foggy ATM) - have a look around and see what the ESP32 typically uses
In this example we will use PuTTY SSH Client that is available for both Windows and Linux. You can use other serial programs and set communication parameters like below.
Run terminal, set identified serial port, baud rate = 115200, data bits = 8, stop bits = 1, and parity = N. Below are example screen shots of setting the port and such transmission parameters (in short described as 115200-8-1-N) on Windows and Linux. Remember to select exactly the same serial port you have identified in steps above.
I set the baund rate to 115200 and it started working after I reset the ESP32. But if I close the serial monitor and open it again, I keep getting weird characters, the readable message only appears after I restart ESP32 with the monitor open: