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Hi alikaan,
We have a bootloader example available that uses UART - https://software-dl.ti.com/mcu-plus-sdk/esd/AM243X/latest/exports/docs/api_guide_am243x/EXAMPLES_DRIVERS_SBL_UART.html that uses a Python Script and XMODEM protocol - https://software-dl.ti.com/mcu-plus-sdk/esd/AM243X/latest/exports/docs/api_guide_am243x/TOOLS_BOOT.html#UART_BOOTLOADER_PYTHON_SCRIPT to transfer the application image.
Maybe this can be used to create a custom UART bootloader (or CAN/Ethernet, if this is what you are thinking).
Best Regards,
Aakash