Seongho has the right idea here, though if you want a formal test with the ACOV matrix you can us wald(). Otherwise, you can apply equality constraints to do a likelihood-ratio test by fitting another model and comparing with anova(). See below.
# Wald test
dat <- expand.table(LSAT7)
mod1 <- mirt(dat, 1, SE = T)
wald(mod1) #see parameters and location
# setup test matrix (test whether 2 and 6 are equal)
L <- matrix(0, 1, 10)
L[1,2] <- 1
L[1,6] <- -1
wald(mod1, L)
# ------------
# LR test
# Constrain intercepts 1 and 3 to be equal, and test whether this makes the model fit worse
mod2 <- mirt(dat, 'F = 1-5
CONSTRAIN = (1, 3, d)')
anova(mod1, mod2)