Yes, you can just skip the version check in the voxl2_io px4 driver and just hard code that the correct version of M0065 board has been detected, so that the voxl2_io driver can continue, everything should work. You will need to re-build the px4 firmware and install it on voxl2, and after that you can use GCS to set up your actuators for the voxl2_io driver and use actuator test as well.
Please let me know if you have any issues with that.
Alex