On my system I found the files

# /etc/udev/rules.d/84-gpio-noroot.rules
> #
> # Corrects sys GPIO permissions on the BB so non-root users in the gpio 
> group can manipulate bits
> #
> # Change group to gpio
> KERNEL=="44e10800.pinmux", PROGRAM="/bin/sh -c '/bin/chown -R root:gpio 
> /sys/kernel/debug/pinctrl/44e10800.pinmux'"
> # Change user permissions to ensure user and group have read/write 
> permissions
> KERNEL=="44e10800.pinmux", PROGRAM="/bin/sh -c '/bin/chmod ugo+x 
> /sys/kernel/debug; /bin/chmod -R ug+rw 
> /sys/kernel/debug/pinctrl/44e10800.pinmux'"
>

and

# /etc/udev/rules.d/85-gpio-noroot.rules
> #
> # Corrects sys GPIO permissions on the BB so non-root users in the gpio 
> group can manipulate bits
> #
>
> SUBSYSTEM=="gpio", GROUP="gpio", MODE="0660"
>

adapting the permissions. I wonder why they're not present in all systems. 
(Are they from the -bone flavour?)

Regards

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