I see that in the PRU Cookbook and other sources that AM335X-PRU-RPROC-4-19-TI-00A0.dtbo is used to configure the PRUs and enable RPROC, but what about for kernel 5.10 and later? I haven’t seen anything in the BB DTS/DTSI files that gives me a definitive answer.
I assume that AM33xx-L4.dtsi is what “tells” the kernel to attach the remoteproc module but am unsure.