Change pinout for flipper custom ESP32

[AdrianPardo99]

I'm a newbie in this so I need to know if I can change the RX and TX default to another GPIO
I have the AIO Board V1.4 and the Flipper Devboard

If exists a way for add the custom firmware, what is the step by step? :c

[AdrianPardo99]

I add more about what i want to do.
I have two issues in AIO Board The pinout to access the ESP32 has a different pins to access I have the pins the TX and RX are the pins 37-38.
And in Flipper Devboard I have an accident and the pin of IO09 is already dead.

So I need to know if I can change the Pinout access for GPS to other pins of ESP32.