export CROSS_COMPILE_64="/home/vm_user/CPU_Load/ti-processor-sdk-linux-adas-j721e-evm-10_00_00_08/linux-devkit/sysroots/x86_64-arago-linux/usr/bin/aarch64-oe-linux/aarch64-oe-linux-"
export SYSROOT_64="/home/vm_user/CPU_Load/ti-processor-sdk-linux-adas-j721e-evm-10_00_00_08/linux-devkit/sysroots/aarch64-oe-linux"
export CC_64="${CROSS_COMPILE_64}gcc --sysroot=${SYSROOT_64}"
export CROSS_COMPILE_32="/home/vm_user/CPU_Load/ti-processor-sdk-linux-adas-j721e-evm-10_00_00_08/k3r5-devkit/sysroots/x86_64-arago-linux/usr/bin/arm-oe-eabi/arm-oe-eabi-"

make ARCH=arm64 CROSS_COMPILE="$CROSS_COMPILE_64" distclean
make ARCH=arm64 CROSS_COMPILE="$CROSS_COMPILE_64" defconfig ti_arm64_prune.config
make ARCH=arm64 CROSS_COMPILE="$CROSS_COMPILE_64" menuconfig

Symbol: SAMPLE_RPMSG_CLIENT [=m]
  │ Type  : tristate
  │ Defined at samples/Kconfig:116
  │   Prompt: Build rpmsg client sample -- loadable modules only
  │   Depends on: SAMPLES [=y] && RPMSG [=y] && m && MODULES [=y]
  │   Location:
  │     -> Kernel hacking
  │       -> Sample kernel code (SAMPLES [=y])
  │ (1)     -> Build rpmsg client sample -- loadable modules only (SAMPLE_RPMSG_CLIENT [=m])

make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- -j8

Copy the Linux RPMsg kernel driver from <Linux_SDK>/board-support/linux-x.x.x/samples/rpmsg/rpmsg_client_sample.ko into the board’s Linux filesystem.

insmod /lib/modules/rpmsg_client_sample.ko