You are reading the documentation for DSpace-CRIS 5.x and 6.x as available in the maintenance branches.
For DSpace-CRIS 7 please check the PDF technical documentation provided on GitHub as noted here a specific section is devoted to the ORCID Integration
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The system monitors changes to the researcher profile and linked entities (publications and projects) putting in a queue (the orcid_queue table on the database) the list of objects that it is necessary to synchronize. This is done for the DSpace items via a consumer enabled by default in the dspace.cfg