In Sidecar, you can only zoom in and out by using the + and - buttons. There should be the option to 'Enable map scroll'. Many users are used to using a mouse scroll to zoom in and out.
Alternatively, the Sidecar will know whether you're hovering over the map or the text at the side. If you are over the map and use the mouse scroll, it zooms in/out on the map. If you are over the text at the side, it scrolls up/down the page.