ESP32 UART RX Signals on GPI Inputs (IO34-IO39)

[jgbkhs]

I'm using ESP32-WROVER-E and working to modify the pin multiplexing.
I'm using several UARTs and would prefer to move the UART RX signals to some of the input only pins.

This page states that UARTs (other than the programming UART) can be multiplexed to any pin.

Then, this support page on the UART peripheral states that yes, GPIO34 to GPIO39 can be used for UART RX, but it only mentions this for the ESP32-SOLO-1 (See question 5).

Is this generally true for ESP32 modules? Can I map non-programming UART RX signals to input only pins on the module?

[ESP_Sprite]

Yes.