The ESP module is a ESP-WROOM-32 (it is written on the metal cap), that is the most common module.
The link is to a ESP32S seems to be a Ai-Thinker version of the board: https://en.wikipedia.org/wiki/ESP32. I don't know what that is.
Your board has a different pin mapping. It seems to be called a "38 pin" board.
This shows the different names for the 38 pin board: https://github.com/AchimPieters/esp32-homekit-camera/blob/master/Images/ESP32-38Pin-devboard.pdf
You can start here for using your board: https://randomnerdtutorials.com/getting-started-with-esp32/