esphome/tests/components/lcd_gpio/common.yaml

display:
  - platform: lcd_gpio
    id: lcd_gpio_my_lcd_gpio
    dimensions: 18x4
    data_pins:
      - number: ${d0_pin}
      - number: ${d1_pin}
      - number: ${d2_pin}
      - number: ${d3_pin}
    enable_pin: ${enable_pin}
    rs_pin: ${rs_pin}
    lambda: |-
      it.print("Hello World!");