Hi Mc68hc908,
Yes, Peg was referring to that circuit and the "Monitor-Mode" bootloader that comes pre-programmed into the GP32.
If your PCB does not have the circuit necessary, as shown in Figures 18-9, 18-10 and 18-11, then you can not use Monitor-Mode. Monitor-Mode is the only bootloader that comes with the GP32.
If you are saying that your GP32 has an additional bootloader that was installed with your original firmware, then you need to find the person who wrote it to find out how it is supposed to work.