Raspberry-gpio get to see the status and how the pins are configured
Raspberry-gpio get <n> to see just one pin
As common today the pins are designed for 0 to 3.3V
To attach something to the GPIO see https://elinux.org/RPi_Low-level_peripherals. As most high density microchips the level are 3V3 so do not attach 5V Logic.
Signals on the connector can be programmed as parallel IO, UART, I2C or SPI.
There is a DSI (Display Serial Interface) on S2 and a MIPI CSI-2 (Camera Serial Interface) on S5.