Hi @dougmiller
If your VOXL 2 Mini is TrustZone Configured for UART over J10, then yes, there are 2 pins available as inputs.
https://docs.modalai.com/voxl2-mini-connectors/#j10---external-uart
You can see GPIO_40, GPIO_46 and GPIO_64 are input capable.
GPIO_40 and GPIO_64 are able to be configured to do wake events in the SoC so they have extra configuration to route to a power manager. Depending on how you write your IRQ routine, that may or may not help.
Hope this helps!