Esp32 wroom 32D and grove ai vision v2?

Hi, does anyone know if there is a way to communicate an esp32 wroom 32D with only the grove ai vision v2, instead of using the xiao esp32?

You can communicate with the Grove Vision AI V2 using an ESP32-WROOM-32D instead of the Seeed Xiao ESP32. You will have to connect the VCC,GND, SCL and SDA pins.