I am newbie use Olimex ESP32-EVB.
May some interface set to disable (example : CAN, IR)?
I want to disable that interface and use the GPIO PIN as INPUT.
In most cases software disable is insufficient and you will need to unsolder and remove components.
For example, to clear IR transmit pin - GPIO12 - for GPIO usage, you'd need to unsolder and remove resistor R55. This cuts the connection between the GPIO12 pin and the IR transmit circuit.
Refer to the schematic which component should be unsoldered and removed to clear a pin for GPIO usage.