Hello Mark78,
The voltage levels are the same of the GPIO PADs which are as you mentioned the ones listed on Table 22 (GPIO I/O DC Parameters) of the i.MX6D/Q Data Sheet.
As for hold times please refer to the RGMII specification. These are not listed because they may be as little as required per processor’s capabilities but must comply with the specification so it’s more a matter or standard compliance than of HW limitations.