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I am using a fingerprint sensor and a VESC which connects to the Arduino MKR 1500 board using TX and RX pins. Is there a way that I could re-purpose any other GPIO pins to behave the same?

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Maybe you are searching for software serial. It allows you to turn almost every pin as RX and TX (I say “almost” because there are some requirements, as having support for interrupts on the pin for RX). Please read about it to see if it fits your needs: https://www.arduino.cc/en/Reference/softwareSerial

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  • there is no SoftwareSerial library for the MKR boards, because hardware Serial can be configured for many pin pairs
    – Juraj
    Jul 7 at 18:58

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