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You might want to check the data sheet, but I don't think you can reliable control the state of a GPIO when the ESP32 is not running or during boot.
When the state of the specific GPIO is critical for your application and must not be low for any reason, you will need external hardware (your pull-up, a transistor, latches, whatever) to enforce this. What should happen when the ESP32 looses it's power supply and the rest of your circuit is still powered ?

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@davefes
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