I tested using gpio_reset_pin() on the ESP32 PICO, and it does exactly what I need. After calling that function for GPIO_NUM_7 and GPIO_NUM_8, I can use the GPIOs as I/O pins. Thanks again for the help.

That is a great suggestion. Thank you! I will test it and will follow up here with the results. My only ESP32 PICO is hardwired into a project, but I ordered another one which should arrive within a day or two.

I recently upgraded from ESP-IDF 5.3.1 to 6.0.2. This broke some calls to gpio_iomux_out() that I had used in a project based on the ESP32-PICO-V3-02. The ESP-IDF 6.x Migration Guide mentions the removal of this function, stating:

gpio_iomux_in() and gpio_iomux_out() have been replaced by gpio ...