It looks like the output is 4-pins and the cable provided converts it to a 6-pin (while only using 4)…it looks like you could use https://www.sparkfun.com/products/17912 and just wire it directly if so
Based on the Amazon page linked above, it is TTL Serial, so it won’t work over qwiic. You should be able to connect it to the serial port on the ESP32 (not sure if you would need level shifters), but it is unlikely to find a ready-made cable. You can use the cable that comes with the module and dyke off the 6-pin end and solder it to the ESP32