CQRS usually means that Commands (modifying the system) are handled differently than Queries (checking the current state of the system).
Of course, you can absolutely create a REST API where there is one set of resources that you can modify but not read (Command resources), and one set of resources you can read but not modify (Query resources). But that would definitely not fit the general idea of what people expect from a REST API.
Also, such an API would be relatively hard to make HATEOAS-compliant, for those that care about "ultimate"/"true" REST.
Not really. REST just models everything as resources that are targetted by requests. REST states nothing about how rewuests should be segregated by commands and queries.
As a sibling comment said: if you implement GraphQL with DTOs that look exactly the same for reading and writing, sure, you won't have CQRS, but it seems like the structure encourages you not to do that since you explicitly CANNOT use the output types as your input types in a GraphQL schema. Besides, real world usages seem to mostly treat it in a CQRS-style way instead of just CRUD operations.
I don't know if it would be any more idiomatic for GraphQL than it would be for REST.
In the end it's about whether the term tells you something about the architecture, and in neither of those cases would I gain useful knowledge of the system from someone saying "it's CQRS."
A better litmus test is probably something to do with enumerating possible commands. So a GraphQL API with a specific set of mutations could be a CQRS design. But if your mutations are just CRUD spelled differently, it's probably not.