Ok. So far so good 
Thank you for advice, because the issue was with fdtoverlays indeed.
The first thing I had to do first is to flash latest version of Debian from Latest Software Images - BeagleBoard, with BBAI64-CSI0-imx219.dtbo && BBAI64-CSI1-imx219 overlays.
Next I updated fdtoverlays in:
/boot/firmware/extlinux/extlinux.conf
with
fdtoverlays /overlays/BBAI64-CSI0-imx219.dtbo /overlays/BBAI64-CSI1-imx219.dtbo
To make motion working with cameras I had to type those lines, before launch:
media-ctl -d 0 --set-v4l2 '"imx219 6-0010":0[fmt:SRGGB8_1X8/640x480]'
media-ctl -d 1 --set-v4l2 '"imx219 4-0010":0[fmt:SRGGB8_1X8/640x480]'
As was mention at this thread: Pipeline for imx219 on BB AI-64
For now I can’t figure out how to get rid of dim greenish picture I’m getting from those cameras.
Seems the v4l2-ctl in this distro is not supporting any kind of auto white balance parameters 