Alberto García Hierro f1a024e374 Enable IO20 on ESP32
Some newer ESP32 variants (like ESP32-PICO-V3 and ESP32-PICO-MINI-02)
do implement this pin and it can be used as a normal GPIO.

Fixes #6016
Fixes #6837

Closes https://github.com/espressif/esp-idf/pull/6918

(cherry picked from commit 6deaefde69c3f068d39b76d628b05b21fd142b79)
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