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Oh this isn’t a pure USB boot. It still relies on U-Boot to be on microSD/eMMC. Instead of u-boot loading the kernel/device-tree from the microSD/eMMC it calls “usb load” (instead of “mmc load”) to load the kernel/device-tree from the usb media.
Once you boot up into an image with the microSD/eMMC, you can run this script to copy the rootfs to a usb flash drive…