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I will answer your questions one by one:
- A baudrate of 115200 is supported by ttyMFD1 (pins 1 and 0 on Arduino Expansion Board).
- Yes, you have to configure the GPIOs before you can setup the UART interface. The error message that you are getting is because the GPIO you are trying to export is already exported. When you try to export a GPIO that is already exported you will get that error message. It doesn't affect the configuration process so you can ignore it and continue with the rest of the commands.
- I haven't used Node.js but I would suggest you to check the MRAA library: intel-iot-devkit/mraa · GitHub. There are some examples in C, Python and Node.js. You might find these examples useful.
I hope this information has answered your questions.