The proposed charter is at [0]. Google raised an objection to the charter in [1]. Chris Wilson posted some clarifications in [2] and Daniel Glazmen posted a response/comment in [3].
As far as I can tell, an objection was raised in a consensus-based discussion. I didn't see any evidence of support from the "other 23" or of any actual vote taking place. I'd assume that others would know more about any such details.
[0] https://github.com/w3cping/administrivia/blob/process-change...
[1] https://lists.w3.org/Archives/Public/public-privacy/2019JulS...
[2] https://lists.w3.org/Archives/Public/public-privacy/2019JulS...
[3] https://lists.w3.org/Archives/Public/public-privacy/2019JulS...
(Disclosure: Googler - drawing only from public record, speaking only for myself)