Detection:

# Check if marker file exists indicating that folders are pinned
$markerFilePath = Join-Path -Path $env:userprofile -ChildPath "QuickAccessPinned.marker"
if (Test-Path $markerFilePath) {
    Write-Output "Folders are pinned to Quick Access"
    exit 0
} else {
    Write-Output "Folders are not pinned to Quick Access"
    exit 1
}

Remediation:

$foldersToPin = @("C:\Folder One", "C:\Folder Two")
$o = New-Object -ComObject shell.application
$success = $true
foreach ($folder in $foldersToPin) {
    $pinnedFolders = Get-ItemProperty -Path 'HKCU:\Software\Microsoft\Windows\CurrentVersion\Explorer\Taskband'
    if ($pinnedFolders.PinnedList -notcontains $folder) {
        $o.Namespace($folder).Self.InvokeVerb("pintohome")
        Write-Output "Folder $folder pinned to Quick Access"
    } else {
        $success = $false
    }
}
# Write a marker file indicating that folders are pinned
if ($success) {
    $markerFilePath = Join-Path -Path $env:userprofile -ChildPath "QuickAccessPinned.marker"
    New-Item -Path $markerFilePath -ItemType File -Force | Out-Null
}

if ($success) {
  exit 0
} else {
  exit 1
}