GPIO external pulldown/pullup

Hi. I am creating a circuit for controlling relays, reading from switches for home automation.
I don’t have beaglebone yet and I don’t know how stuff is internally connected yet.

I am wondering if I have to make pull-down/pull-up on all gpio pins or will they be just floating?

I am going to use all pins so I don’t want any rouge pins…

Also at what state are they in boot mode?

You can turn on pullups and downs in SW. They may or may not be adequate to drive the buffers you need to drive your relays. I would add them to be safe, They are never left floating on power up. Read the datasheet for the processor to see what the power up state is a for each pin you want to use…