Yes, in California a judge can allow a plea to be withdrawn if it "serves the interests of justice." This is the same mechanism used to expunge someone's record

Yes, in California a judge can allow a plea to be withdrawn if it "serves the interests of justice." This is the same mechanism used to expunge someone's record after, e.g., completing probation. They are required to set aside guilty pleas if they learn that the party isn't guilty—even if the defendant doesn't ask them to.