boards: esp32: Update outdated links

This commit updates the outdated/redirected links.

Signed-off-by: Stephanos Ioannidis <[email protected]>

Author: stephanosio

boards/xtensa/esp32/doc/index.rst

@@ -195,7 +195,7 @@ References
 
 .. [1] https://en.wikipedia.org/wiki/ESP32
 .. _`ESP32 Technical Reference Manual`: https://espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf
-.. _`JTAG debugging for ESP32`: http://esp-idf.readthedocs.io/en/latest/api-guides/jtag-debugging/index.html
-.. _`Hardware Reference`: https://esp-idf.readthedocs.io/en/latest/hw-reference/index.html
-.. _`ESP-WROVER-32 V3 Getting Started Guide`: https://dl.espressif.com/doc/esp-idf/latest/get-started/get-started-wrover-kit.html
+.. _`JTAG debugging for ESP32`: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/jtag-debugging/index.html
+.. _`Hardware Reference`: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/hw-reference/index.html
+.. _`ESP-WROVER-32 V3 Getting Started Guide`: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/hw-reference/esp32/get-started-wrover-kit.html
 .. _`OpenOCD ESP32`: https://github.com/espressif/openocd-esp32/releases