From the datasheet for ESP32-MINI-1U, here are the pin groups you asked for:
Bootstrap / strapping pins
GPIO0
GPIO2
GPIO5
GPIO12 = MTDI
GPIO15 = MTDO
Input-only pins
GPIO34
GPIO35
GPIO36
GPIO37
GPIO38
GPIO39
These are input-only and do not support output functions.
Pins connected to internal memory
Pins tied to the in-package SPI flash / memory interface:
GPIO6
GPIO7
GPIO8
GPIO11
GPIO16
GPIO17
These are not intended for normal GPIO use. The datasheet notes they are connected to the integrated SPI flash and cannot be used for other purposes, except in the external PSRAM context.
USB pins
None
There are no native USB D+ / D- pins on this module.
If you want, I can also turn this into a pin audit table for your current part project and check whether the existing terminal properties match these categories.