I thought pinctrl was hardware level and used by the DTB for normal runnings and settings whilst mraa and userspace tools gpiod (sysfs still exists) for cec libcec is prob your best bet (think it might be the only bet)
In the radxa github there is mraa and on majaro a patch is needed Zero cannot connect to wifi - #53 by RadxaYuntian
gpiod never tried same with libcec but been meaning to have a go as been wondering with a voice ai you can switch sources and then back to original on a voice command.
Could be wrong but pinctrl is where its defined but use is through mraa or gpiod.