I have no idea. You may want to ping TI on this one.
Gerald
In specific, many people are talking about StarterWare at:
http://e2e.ti.com/support/arm/sitara_arm/f/791.aspx
The answer is yes, but. You can do some output on LEDs or the serial port to debug, loading via the microSD card or serial port, but you’ll likely want to move to having JTAG at some point. The BeagleBone (white) is a good solution for initial development, then move to Black when you are ready to make a few more. Adding JTAG can be fairly cheap with the XDS100v2 (~$50). If you are patient and know how to write your code fairly well, then you can get by without it and just load-and-run. JTAG is not needed for that, though it makes it easier. JTAG is only required if you want to step through your code.