As indicated, the GPS modules are based on the u-blox NEO-6M GPS engine. The type number of the NEO-6M is NEO-6M-0-001, and its ROM/FLASH version is ROM 7.0.3 (PCN reference UBX-TN-11047-1). The ...

There’s also a NEO-6M GPS receiver which works at the same 3.3 V level as the ESP32, allowing the microcontroller to read the NMEA sentences without a level shifter.