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When doing menuconfig the appropriate setting can be found under Device Drivers -> GPIO Support -> sysfs interface, or use CONFIG_GPIO_SYSFS=y if manually editing .config.
If you meant you don't even know how to build a kernel in general: no, that's not something a beginner should be doing in the first place and I don't want to write such a long guide -- way too much work. Use an image where it's already enabled by default instead, like e.g. Armbian.
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