The first thing the MCU does upon exiting reset is read the two bootmode pins to determine which boot mode it will use. As the table implies, to enter the SCI boot ROM, hold GPIO37 low and GPIO34 high, initiate a reset with XRSn, then once the MCU is in the SCI bootloader you can release those two GPIO.
The ROM bootloader uses specific pins for TX and RX, this should be explained in the datasheet.
Importantly, to use the SCI boot ROM you do not need to touch any of the OTP memory inside the MCU.