BBAI Embedded JTAG

I have read documentation that says the BBAI has the same USB XDS100 embedded JTAG as the BB-White. Is there a HW limitation that has prevented the USB debug capability or is this just a lack of software support? (i.e porting to 5729)

It doesn’t. The Type-C USB is directly connected such that it can act as either a USB “Gadget” or USB host/dual-role mode (in non-standard circumstances where it is not used to source power). The original BeagleBone included a USB hub that enabled it to only work in “Gadget” mode and not as OTG/Host/Dual-role. BeagleBone AI does not.

Thanks for the info