Is this an error in the Pinocchio Protocol paper
The first part of the question is answered in the comments. Regarding the second part, yes, indeed, you are right! It's a typo in the Pinocchio paper, Section 2.3. Protocol 1., you also linked. The problem is that the left hand side of the verification equation enumaretes the I/O related coefficients twice in the left wire polynomial, V, therefore $g^{v_0}.g^{v_{io}}.g^{v_{mid}(s)}$ should be instead of $g^{v_0}.g^{v_{io}}.g^{v(s)}$ in the first argument of the first pairing.

However, in the original version of the protocol, see the end of Section 3.1., this typo error is not present.