Stereo sound with ESP32 board

I have an ESP32 board and an audio amplifier that is built around the pam 8610. Aside from finding any specs at all the trouble I'm having is its input is a 3.5mm jack although it looks like there is access to the three jack connectors.

Can anyone point me in the right direction to wire up the ESP32's I2S pins to a 3.5 jack?

Apologies in advance if this sounds a little too noob!

ESP32 I2S APIi

Idahowalker:
ESP32 I2S APIi

Thank you much, great reading.

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