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M43 P[pin] W will begin watching a specific pin for activity. I couldn't find a way to exit this watching state without resetting the printer.
M43 T offers a way to manually control pins with gcode.
Sending M43 T is a variant of M43 that allows you to cycle through your mainboard pins, pulsing them for a specific amount of time. I have not tested this personally, but the example linked on the Marlin reference page should illustrate it's use.