Searching around the forum, I found this post which contains C-code intended to execute on the PRU:
PRU DMA example w/ HUB75 matrix dithering
While my needs aren’t really similar enough for me to use this code outright, I found it exceptionally helpful since it made reference to various .h files that I was confident existed, I just didn’t know where to find them. I hope this info is documented somewhere, but there’s a LOT of documentation to have to go through and an example cuts to the chase a little easier than official documentation can. Once I knew the names of those files, I could navigate to them, review them, and start getting a feel for what the various configuration and command options are, and see how they are used.
Having examples like this saves so much time when it comes to overcoming the early boilerplate requirements of a new project and why contributors on forums like this are so valuable.