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G+: connected to 5V power pin (supported voltage is 4.5 V to 5.25 V)
G0: connected to GND pin
UART_RxD: connected to pin 13 on ESP32
UART_TxD: connected to pin 12 on ESP32
Some additional information and notes
When attached to USB hub on breadboard I had the impression that the the readings were erratic... I stabilised the 5V line by adding an capacitor between VCC and GND close to the sensor.