The link you provided does not work for me. It lands on an advertising page.
Not sure about the jumper issue: on (all) board I've seen there are already all the pins available. You should just connect to the ESP32 board the required pins, if I'm not wrong.
By the way, I'm reading the datasheet and I didn't find anything about this. In detail it says:
The MFRC522 identifies the host interface by sensing the logic levels on the control pins after the reset phase. This is done using a combination of fixed pin connections