Can confirm that the setup wizard lets you use a mouse and keyboard to navigate, but you have to remove any physical SIM card in your phone because USB peripherals will not be activated until after you've entered the PIN of your SIM.
I could navigate through the setup wizard (after a device wipe) with a mouse, then enter developer options to enable OEM Unlocking.
Dumdum If you factory reset, I think that should put the USB back to the default "Charging-only when locked, except before first unlock" setting
The default setting was recently changed to "Charging-only when locked": https://grapheneos.org/releases#2024061200