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I'm afraid not - throwing exceptions from within jshPinSetState could be a bit awkward as well. It might be better just to ignore it :S
You can at least define 'notes' next to the pins in BOARD.py so that the Pin diagram mentions that there's an issue (check the Pico for an example)
Is it possible to restrict a GPIO in board.py to support input (or output) only ?
Some of ESP32 GPIO's support only one direction.
Optional we could check this in jshardware.c.