@felmue You are right, it seems to be a voltage mismatch. The UART requests 5V, but ESP32 delivers only 3.3V.
Reading: "On-board level shifter, Standard 5V TTL for I2C and UART, 3.3V TTL SPI"
Find more: https://manuals.plus/elechouse/pn532-nfc-rfid-module-manual#introduction
Time to buy a M5stack reader unit and use the standard UiFlow drivers. Thanks!