You can find all the information regarding voltage levels on all pins of the headers in the iW-RainboW-G27S_i.MX8QM_QP_Pico_ITX_SBC-HardwareUserGuide-R2.0-REL1.1.pdf. The I/O level for each signal is mentioned in the ‘Signal Type/Termination’ column of the description table.
All the information regarding the voltage levels for the header pins is available in i.MX8QM_QP Pico ITX SBC-HardwareUserGuide pdf. The I/O level for each signal is mentioned in the ‘Signal Type/Termination’ column of the description table.
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Please find the detailed G27S product information in the below link,