In response to the recent e2e posts, the FAQ lists redundant/recovery boot support in ROM loading R5-BL (BootLoader) in K3 SoCs, i.e. AM64x, AM62x, AM62A...
The FAQ also discusses the related topic on R5-BL integrity check by ROM on GP/HS. These SoC-level built-in features are useful for user on implementing a range of user cases - normal boot, flashing, OTP key programming, SW update on the field etc... based on system design and requirements.