Hi,
It looks like OpenOCD fails to read some of the internal ESP32 registers:
Error: Exception reading icountlevel!
It might be caused by wiring issues, incompatible script or broken hardware.
Generally, given how fragile the ESP32 setup is, we would advise starting with a board that is directly mentioned in our tutorials (e.g. ESP32-WROVER with a built-in JTAG), getting it to work and then moving on to the custom hardware.