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Yes; the datasheet says:
The TCA9555 is identical to the TCA9535, except for the inclusion of the internal I/O pull-up resistor, which pulls the I/O to a default high when configured as an input and undriven.
Jithin,
TCA9555 will power up with p-ports configured to inputs, but each input will be pulled HIGH to VCC through the 100kohm pull-up resistor.
Regards,
Tyler