Set pins 3, 5, 8, 10, 27, 28, from 40-pin header from SFIO to GPIO (Alternate Function)

I’m using an Jetson Nano 4GB Developer Kit Model number P3450 with L4T Version 32.4.3 and want to use pins 3, 5, 8, 10, 27, 28, from 40-pin header as GPIO instead of SFIO. GPIO is the alternate function due to the User Guide. I have tried to do it with the Jetson-IO, but haven’t found this option.
Any idea how to do this?

Please don’t use these pins as GPIO.

Any reason?

These are I2C and UART pins, can not be used for GPIO in general.

Activate alternate functions of I2C1 & UART pins on 40-Pin Header (J6) - Jetson AGX Xavier In this doc it is done .

It is NOT suggested as there are pull-up on I2C lines and UART pins are better to be UART function only.