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AM4376: AM4376: Kernel 5.10 doesn't boot

Part Number: AM4376

We use AM4376 CPU for our board. The goal is to upgrade Linux kernel from 4.19 (TI BSP 6.3.0.106) to 5.10 (TI branch ti-rt-linux-5.10.y).
I got in my opinion all needed patches and other settings, but Linux doesn't boot. I get on console:
...
remoteproc remoteproc0: 54434000.pru is available
remoteproc remoteproc1: 54438000.pru is available
remoteproc remoteproc2: 54474000.pru is available
remoteproc remoteproc3: 54478000.pru is available
printk: console [netcon0]: printing thread started
printk: console [netcon0] enabled
netconsole: network logging started
Waiting for root device /dev/mmcblk0p5...

4.19 works properly. Could it be, /dev/mmcblk0p5 doesn't fit to 5.10 ?
Was naming changed ? I've noticed in the device tree, mmc compatible string was changed from ti,omap4-hsmmc to ti,am437-sdhci.

Best Regards
Walter