Eric, I like your style… trying to use example code from one sensor on another of entirely different design 
but instead of being one of those people who say “why on earth would you try to do that!?” I’ll point you in the direction of a couple useful things:
Seeed Wiki for the MR60FDA1 which mentions things like what pins to use and not to use and has links to sample code maintained by Seeed Studio that works in Arduino IDE and you can use an ESP32 MCU with that, just look up how to add the support in Arduino for the ESP32 boards:
Some code I’ve recently posted to github for using the sister module MR60BHA1 with ESPHome:
This might be more useful to you to customize for the Fall Detection Pro module. I have both of the 60GHz variants and the connections and frames they send to your ESP module overlap to some extent so with my code, you should get some of the sensors working such as presence and motion but the Fall Detection Pro module won’t give you HR and RR data at all from what I have seen. It may look identical but internally, it doesn’t have those functions. Similarly the Respiratory Heartbeat Detection module won’t do Fall Detection… both will show you presence and motion states using the Seeed Arduino examples or myown/other’s code for ESPHome.