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The OSC16M_CFG bit in OTP defines whether a crystal is required. When OSC16M_CFG=0, the crystal oscillator in the PMIC is enabled. Therefore the external crystal is required, otherwise the device clocking may not work as expected and the device may enter a reset loop. When OSC16M_CFG=1, the crystal oscillator is bypassed and the OSC16MIN should be connected to GND.
Currently, all supported OTP versions required the crystal. But you can verify the value of this bit in the TPS659037 User's Guide (www.ti.com/.../sliu011).