State of pull request decoration with GitHub and Jenkins

I am a bit lost now on what is the current support and way to get PR decoration working when we use SonarCloud, Github and Jenkins.

In the project administration, I have enabled Enable summary comment
where it says You may need to specify additional parameters to enable pull request analysis. See the documentation for more information.
but there is no direct link to the documentation.

Somewhere in the docs it says the CI tools, like Jenkins, will add additional params on their own for pull request analysis.
But in my case, all PRs are treated as branches and not showing summary, do I need to then provide addition params for analysis?
Have also SonarCloud app installed for our Github org.

What is working, is SonarCloud - Jenkins integration (getting result of Quality gate back), but nothing on SonarCloud - GitHub part.

This is what I have in the pipeline:

def scannerHome = tool 'SonarQube Scanner';
      withSonarQubeEnv('SonarCloud') {
        sh """#!/bin/bash -e
          ${scannerHome}/bin/sonar-scanner \
          -Dsonar.projectKey=test \

Is there any up to date documentation please?