So I am trying to build my own kernel for a Pocketbeagle, and I have cross-compiled in a Debian VM, and have the output in the deploy directory after executing on kernel version 4.19.94-ti-rt-r41. My problem is getting it to boot properly on the target system. I have moved the products to the target and put them, I think, in the proper places creating an appropriate /lib/modules/4.19.94-ti-rt-r41 and /boot/dtbs/4.19.94-ti-rt-r41 directories, renamed the zImage and updated uEnv.txt to version 4.19.94-ti-rt-r41. Upon reboot, that kernel does come up but systemd-modules-load.service fails, so I think I must be missing something. Is there another step?

root@beaglebone:~# systemctl --failed
● systemd-modules-load.service loaded failed failed Load Kernel Modules

LOAD = Reflects whether the unit definition was properly loaded.
ACTIVE = The high-level unit activation state, i.e. generalization of SUB.
SUB = The low-level unit activation state, values depend on unit type.

1 loaded units listed. Pass --all to see loaded but inactive units, too.
To show all installed unit files use ‘systemctl list-unit-files’.
root@beaglebone:~# [ 83.036964] wkup_m3_ipc 44e11324.wkup_m3_ipc: could not get rproc handle
-bash: q: command not found
root@beaglebone:~# systemctl status systemd-modules-load.service
● systemd-modules-load.service - Load Kernel Modules
Loaded: loaded (/lib/systemd/system/systemd-modules-load.service; static; ven
Active: failed (Result: exit-code) since Tue 2020-03-24 21:30:41 UTC; 7min ag
Docs: man:systemd-modules-load.service(8)
Process: 153 ExecStart=/lib/systemd/systemd-modules-load (code=exited, status=
Main PID: 153 (code=exited, status=1/FAILURE)

I’m going to answer (mostly) my own question here for posterity. At appears my process was mostly right, but I failed to update the reference to AM335X-PRU-RPROC-4-14-TI-00A0 in uEnv.txt, and that apparently does some weird things.

Executing /lib/systemd/systemd-modules-load shows that the module pruss_intc is not found, so I need to investigate why this is since I selected all the pru options in the kernel config. Perhaps, this module has changed names or combined with another?