Thank you for your reply, I did indeed stumble upon this repository before and attempted to get it to work, but it uses the UIO framework right? I cannot get UIO to work on my board with my current kernel version 5.10.168-ti-rt-r72. And, I could be wrong, but I remember reading that UIO and Remoteproc are mutually exclusive as described here.
After following the installation instructions in the repository you linked, remoteproc is indeed deactivated and the kernel drivers are loaded:
>> lsmod | grep uio
uio_pruss 16384 0
uio_pdrv_genirq 16384 0
uio 20480 2 uio_pruss,uio_pdrv_genirq
but no uio devices are present, and running the basic_test.py results in
FileNotFoundError: [Errno 2] No such file or directory: '/dev/uio/pruss/module' :
>>> ls /dev/u*
/dev/ubi_ctrl /dev/uhid /dev/uinput /dev/urandom