Framework 16 Macropad seems to ignore the firmware being flashed

I want to put my own code on the RP2040 that is on the macropad. If I do that there’s a good chance the code will get stuck in a loop or whatnot, so I’d need a way to get to mas storage mode to get working code back on there. Are the boot modes I’ve seen hardware or firmware? Is the RP2040 BOOT function somehow tied to hardware?
Is the BOOT signal available somewhere on the PCB?
Are the SWD pins available somewhere on the PCB?

Will a schematic ever be released?