I wrote a couple of articles on how to do bit banged VGA on the RP2040 from scratch: https://gregchadwick.co.uk/blog/playing-with-the-pico-pt5/ and https://gregchadwick.co.uk/blog/playing-with-the-pico-pt6/ plus an intro to PIO https://gregchadwick.co.uk/blog/playing-with-the-pico-pt4/