Assuming it still works similar to the DM814x, you can configure PCIe in PHY-loopback mode, which makes the SERDES send tx data straight back as rx data. Then outbound transactions become inbound transactions and you can access the L3 interconnect via a very scenic route
How about bare metal programming - is there something like the StarterWare package available for this board/CPU? I could not find something on TI’s webpages, just the old StarterWare package for AM335x…