Hello,
First of all sorry for my poor english (I’m french). 
I have tried for hours to make UARTs of the BBB running.
I have used many years ago some BBBs with UARTs and I have one here running a small web site without using UARTs here.
Fortunately I have foud the following tutorial : https://www.beagleboard.org/blog/2022-02-15-using-device-tree-overlays-example-on-beaglebone-cape-add-on-boards
(One difference with the tutorial was that I handly modify omap2plus_defconfig for the following informations CONFIG_LEDS_GPIO=y and CONFIG_LEDS_CLASS=y and I had at the end of the file CONFIG_OF_OVERLAY=y becaus I didn’t know were to modify with make menuconfig)
and I was able to compile .dts file to .dtbo and make UARTs run on the Debian 12.x (Bookworm) IOT Snapshot without trouble.
But my goal was to make UARTs run on the minimal release ans it doesn’t.
If I run beagle-version on my BBB after minimal installation and all necessary configuration here is the result :
eeprom:[A335BNLT00C02208SBB15148]
model:[TI_AM335x_BeagleBone_Black]
dogtag:[BeagleBoard.org Debian Bookworm Minimal Image 2023-10-07]
bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot SPL 2022.04-ge0d31da5 (Aug 04 2023 - 18:48:26 +0000)]:[location: dd MBR]
UBOOT: Booted Device-Tree:[am335x-boneblack-uboot-univ.dts]
UBOOT: Loaded Overlay:[BB-ADC-00A0.kernel]
UBOOT: Loaded Overlay:[BB-BONE-eMMC1-01-00A0.kernel]
UBOOT: Loaded Overlay:[BB-HDMI-TDA998x-00A0.kernel]
UBOOT: Loaded Overlay:[BB-SPIDEV0-00A0.kernel]
UBOOT: Loaded Overlay:[BB-UART1-00A0.kernel]
UBOOT: Loaded Overlay:[BB-UART4-00A0.kernel]
kernel:[5.10.168-ti-r77]
/boot/uEnv.txt Settings:
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[uboot_overlay_addr0=/lib/firmware/BB-UART1-00A0.dtbo]
uboot_overlay_options:[uboot_overlay_addr2=/lib/firmware/BB-UART4-00A0.dtbo]
uboot_overlay_options:[uboot_overlay_addr4=/lib/firmware/BB-SPIDEV0-00A0.dtbo]
uboot_overlay_options:[enable_uboot_cape_universal=1]
pkg check: to individually upgrade run: [sudo apt install --only-upgrade <pkg>]
WARNING:pkg:[bb-cape-overlays]:[NOT_INSTALLED]
pkg:[bb-customizations]:[1.20240119.0-0~bookworm+20240119]
pkg:[bb-usb-gadgets]:[1.20240403.0-0~bookworm+20240403]
pkg:[bb-wl18xx-firmware]:[1.20230414.0-0~bookworm+20230414]
pkg:[kmod]:[30+20221128-1]
WARNING:pkg:[librobotcontrol]:[NOT_INSTALLED]
cmdline:[console=ttyS0,115200n8 bone_capemgr.uboot_capemgr_enabled=1 root=/dev/mmcblk1p1 ro rootfstype=ext4 rootwait coherent_pool=1M net.ifnames=0 lpj=1990656 rng_core.default_quality=100 quiet]
dmesg | grep remote
[ 10.644537] remoteproc remoteproc0: wkup_m3 is available
[ 22.193653] systemd[1]: Reached target remote-fs.target - Remote File Systems.
[ 50.047592] remoteproc remoteproc0: powering up wkup_m3
[ 50.047634] remoteproc remoteproc0: Booting fw image am335x-pm-firmware.elf, size 217148
[ 50.047944] remoteproc remoteproc0: remote processor wkup_m3 is now up
[ 74.208144] remoteproc remoteproc1: 4a334000.pru is available
[ 74.235361] remoteproc remoteproc2: 4a338000.pru is available
dmesg | grep pru
[ 74.208144] remoteproc remoteproc1: 4a334000.pru is available
[ 74.235361] remoteproc remoteproc2: 4a338000.pru is available
dmesg | grep pinctrl-single
[ 10.105066] pinctrl-single 44e10800.pinmux: 142 pins, size 568
dmesg | grep gpio-of-helper
[ 10.106729] gpio-of-helper ocp:cape-universal: Failed to get gpio property of 'P8_03'
[ 10.106757] gpio-of-helper ocp:cape-universal: Failed to create gpio entry
[ 10.925065] gpio-of-helper ocp:cape-universal: Allocated GPIO id=0 name='P8_03'
[ 10.925326] gpio-of-helper ocp:cape-universal: Allocated GPIO id=1 name='P8_04'
[ 10.925541] gpio-of-helper ocp:cape-universal: Allocated GPIO id=2 name='P8_05'
[ 10.925753] gpio-of-helper ocp:cape-universal: Allocated GPIO id=3 name='P8_06'
[ 10.926247] gpio-of-helper ocp:cape-universal: Allocated GPIO id=4 name='P8_07'
[ 10.926477] gpio-of-helper ocp:cape-universal: Allocated GPIO id=5 name='P8_08'
[ 10.926680] gpio-of-helper ocp:cape-universal: Allocated GPIO id=6 name='P8_09'
[ 10.926882] gpio-of-helper ocp:cape-universal: Allocated GPIO id=7 name='P8_10'
[ 10.927103] gpio-of-helper ocp:cape-universal: Allocated GPIO id=8 name='P8_11'
[ 10.927417] gpio-of-helper ocp:cape-universal: Allocated GPIO id=9 name='P8_12'
[ 10.927734] gpio-of-helper ocp:cape-universal: Allocated GPIO id=10 name='P8_13'
[ 10.927951] gpio-of-helper ocp:cape-universal: Allocated GPIO id=11 name='P8_14'
[ 10.928151] gpio-of-helper ocp:cape-universal: Allocated GPIO id=12 name='P8_15'
[ 10.928379] gpio-of-helper ocp:cape-universal: Allocated GPIO id=13 name='P8_16'
[ 10.928595] gpio-of-helper ocp:cape-universal: Allocated GPIO id=14 name='P8_17'
[ 10.928802] gpio-of-helper ocp:cape-universal: Allocated GPIO id=15 name='P8_18'
[ 10.929008] gpio-of-helper ocp:cape-universal: Allocated GPIO id=16 name='P8_19'
[ 10.929203] gpio-of-helper ocp:cape-universal: Allocated GPIO id=17 name='P8_20'
[ 10.929409] gpio-of-helper ocp:cape-universal: Allocated GPIO id=18 name='P8_21'
[ 10.929607] gpio-of-helper ocp:cape-universal: Allocated GPIO id=19 name='P8_22'
[ 10.929797] gpio-of-helper ocp:cape-universal: Allocated GPIO id=20 name='P8_23'
[ 10.929992] gpio-of-helper ocp:cape-universal: Allocated GPIO id=21 name='P8_24'
[ 10.930206] gpio-of-helper ocp:cape-universal: Allocated GPIO id=22 name='P8_25'
[ 10.930416] gpio-of-helper ocp:cape-universal: Allocated GPIO id=23 name='P8_26'
[ 10.930638] gpio-of-helper ocp:cape-universal: Allocated GPIO id=24 name='P8_27'
[ 10.930829] gpio-of-helper ocp:cape-universal: Allocated GPIO id=25 name='P8_28'
[ 10.931052] gpio-of-helper ocp:cape-universal: Allocated GPIO id=26 name='P8_29'
[ 10.931243] gpio-of-helper ocp:cape-universal: Allocated GPIO id=27 name='P8_30'
[ 10.931573] gpio-of-helper ocp:cape-universal: Allocated GPIO id=28 name='P8_31'
[ 10.931784] gpio-of-helper ocp:cape-universal: Allocated GPIO id=29 name='P8_32'
[ 10.931979] gpio-of-helper ocp:cape-universal: Allocated GPIO id=30 name='P8_33'
[ 10.932209] gpio-of-helper ocp:cape-universal: Allocated GPIO id=31 name='P8_34'
[ 10.932401] gpio-of-helper ocp:cape-universal: Allocated GPIO id=32 name='P8_35'
[ 10.932606] gpio-of-helper ocp:cape-universal: Allocated GPIO id=33 name='P8_36'
[ 10.932817] gpio-of-helper ocp:cape-universal: Allocated GPIO id=34 name='P8_37'
[ 10.933006] gpio-of-helper ocp:cape-universal: Allocated GPIO id=35 name='P8_38'
[ 10.933207] gpio-of-helper ocp:cape-universal: Allocated GPIO id=36 name='P8_39'
[ 10.933406] gpio-of-helper ocp:cape-universal: Allocated GPIO id=37 name='P8_40'
[ 10.933603] gpio-of-helper ocp:cape-universal: Allocated GPIO id=38 name='P8_41'
[ 10.933814] gpio-of-helper ocp:cape-universal: Allocated GPIO id=39 name='P8_42'
[ 10.934024] gpio-of-helper ocp:cape-universal: Allocated GPIO id=40 name='P8_43'
[ 10.934222] gpio-of-helper ocp:cape-universal: Allocated GPIO id=41 name='P8_44'
[ 10.934421] gpio-of-helper ocp:cape-universal: Allocated GPIO id=42 name='P8_45'
[ 10.934612] gpio-of-helper ocp:cape-universal: Allocated GPIO id=43 name='P8_46'
[ 10.934836] gpio-of-helper ocp:cape-universal: Allocated GPIO id=44 name='P9_11'
[ 10.935045] gpio-of-helper ocp:cape-universal: Allocated GPIO id=45 name='P9_12'
[ 10.935249] gpio-of-helper ocp:cape-universal: Allocated GPIO id=46 name='P9_13'
[ 10.935572] gpio-of-helper ocp:cape-universal: Allocated GPIO id=47 name='P9_14'
[ 10.935775] gpio-of-helper ocp:cape-universal: Allocated GPIO id=48 name='P9_15'
[ 10.935996] gpio-of-helper ocp:cape-universal: Allocated GPIO id=49 name='P9_16'
[ 10.936189] gpio-of-helper ocp:cape-universal: Allocated GPIO id=50 name='P9_17'
[ 10.936392] gpio-of-helper ocp:cape-universal: Allocated GPIO id=51 name='P9_18'
[ 10.936596] gpio-of-helper ocp:cape-universal: Allocated GPIO id=52 name='P9_19'
[ 10.936790] gpio-of-helper ocp:cape-universal: Allocated GPIO id=53 name='P9_20'
[ 10.936996] gpio-of-helper ocp:cape-universal: Allocated GPIO id=54 name='P9_21'
[ 10.937199] gpio-of-helper ocp:cape-universal: Allocated GPIO id=55 name='P9_22'
[ 10.937427] gpio-of-helper ocp:cape-universal: Allocated GPIO id=56 name='P9_23'
[ 10.937650] gpio-of-helper ocp:cape-universal: Allocated GPIO id=57 name='P9_24'
[ 10.938178] gpio-of-helper ocp:cape-universal: Allocated GPIO id=58 name='P9_25'
[ 10.938409] gpio-of-helper ocp:cape-universal: Allocated GPIO id=59 name='P9_26'
[ 10.938614] gpio-of-helper ocp:cape-universal: Allocated GPIO id=60 name='P9_27'
[ 10.938807] gpio-of-helper ocp:cape-universal: Allocated GPIO id=61 name='P9_28'
[ 10.939007] gpio-of-helper ocp:cape-universal: Allocated GPIO id=62 name='P9_29'
[ 10.939205] gpio-of-helper ocp:cape-universal: Allocated GPIO id=63 name='P9_30'
[ 10.939531] gpio-of-helper ocp:cape-universal: Allocated GPIO id=64 name='P9_31'
[ 10.939747] gpio-of-helper ocp:cape-universal: Allocated GPIO id=65 name='P9_41'
[ 10.939950] gpio-of-helper ocp:cape-universal: Allocated GPIO id=66 name='P9_91'
[ 10.940178] gpio-of-helper ocp:cape-universal: Allocated GPIO id=67 name='P9_42'
[ 10.940381] gpio-of-helper ocp:cape-universal: Allocated GPIO id=68 name='P9_92'
[ 10.940393] gpio-of-helper ocp:cape-universal: ready
dmesg | grep wlcore
lsusb
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
END
Is there any significal difference between minimal and IOT that couldn’t permit to run the UARTs ?
Thank you for your help…