The TP3,4,5,6,7 is accessible if you open it up(WICED Sense Reference Design Mentor Graphics PCB Layout File). But not all are output pins, few are Input and few are output(CYW20737S Bluetooth Low Energy SiP Module Technical Reference) ..
You can look at the Datasheet for options to get GPIO, we do have GPIO drivers but not for USB to GPIO cables based. I'm not sure if you can use them. You can find the GPIO drivers within the SDK. Let us know if you need more details.