I have that same module. My memory is that it requires 5V power, which is then reduced to 3.3V by the LDO on the module (the little 5-pin chip). So its Tx output is 3.3V. That works well enough with a 5V Arduino. But I've never needed to connect the Rx line. It would be expecting 3.3V input, but the 5V Arduino would be sending data at 5V. So that might be a translation problem if you need to send stuff to the module.
But on the Nano 33 IOT, I think USB 5V connects to the Vin pin through a schottky diode, so Vin should provide 4.7V power, which you can use to power the GPS module. And then data is 3.3V both ways.
But if all you have is 3.3V power, one solution might be to short the LDO's input to its output. That would effectively bypass the LDO, so the incoming 3.3V would go directly to the rest of the circuit. It appears to be this LDO: