Start UART download mode from code

[pkendall64]

Is there any way to start the UART download mode from code. Similar to ESP.rebootIntoUartDownloadMode() on the ESP8266.
For the project I an working on, ExpressLRS, we do this on out 8285 based RX modules to perform passthrough upgrades of the firmware and we'd like to do the same for ESP PICO D4 based RX modules as well.

Cheers,
Paul