AM6548: AM6548 usb peripheral mode initialization failed

I am trying to configure a custom board using an AM6548 to us USB0 in peripheral mode but am running into issues. It does not appear to initialize properly. . Any assistance would be greatly apprecaited.

Here is the output of the chkusb.sh scirpt

root@nxtgsm:~# ./chkusb.sh
chkusb.sh Version 0.2.9
Linux nxtgsm 5.10.100-rt62-g204ec708dc #1 SMP PREEMPT_RT Tue Feb 14 20:25:03 UTC 2023 aarch64 aarch64 aarch64 GNU/Linux
USB initialization failed
Warning: CONFIG_USB_DWC3_DUAL_ROLE undefined.
Error: CONFIG_USB_DWC3_OMAP is undefined in kernel config
Error: /lib/modules/5.10.100-rt62-g204ec708dc/modules.dep seems to be valid,
       but xhci-plat-hcd.ko is not loaded.
       Please provide /proc/config.gz and /lib/module/5.10.100-rt62-g204ec708dc/*
       for further investigation.
Error: /lib/modules/5.10.100-rt62-g204ec708dc/modules.dep seems to be valid,
       but xhci-hcd.ko is not loaded.
       Please provide /proc/config.gz and /lib/module/5.10.100-rt62-g204ec708dc/*
       for further investigation.
Error: CONFIG_OMAP_CONTROL_PHY is undefined in kernel config
Error: CONFIG_TI_PIPE3 is undefined in kernel config
usb@10000: peripheral, (null)
usb@10000: otg, (null)

Gadget Kernel Config: g_zero is enabled
Gadget Kernel Config: g_ncm is enabled
Gadget Kernel Config: g_serial is enabled
gadget driver loaded: (none)

The list of USB gadget drivers installed:
/lib/modules/5.10.100-rt62-g204ec708dc/kernel/drivers/usb/gadget/:
function/
legacy/
libcomposite.ko

/lib/modules/5.10.100-rt62-g204ec708dc/kernel/drivers/usb/gadget/function:
u_audio.ko
u_ether.ko
u_serial.ko
usb_f_acm.ko
usb_f_ecm.ko
usb_f_ecm_subset.ko
usb_f_eem.ko
usb_f_fs.ko
usb_f_hid.ko
usb_f_mass_storage.ko
usb_f_midi.ko
usb_f_ncm.ko
usb_f_obex.ko
usb_f_printer.ko
usb_f_rndis.ko
usb_f_serial.ko
usb_f_ss_lb.ko
usb_f_uac1.ko
usb_f_uac2.ko
usb_f_uvc.ko

/lib/modules/5.10.100-rt62-g204ec708dc/kernel/drivers/usb/gadget/legacy:
g_acm_ms.ko
g_cdc.ko
g_dbgp.ko
g_ffs.ko
g_hid.ko
g_multi.ko
g_ncm.ko
g_serial.ko
g_webcam.ko
g_zero.ko

I have tried adding the CONFIG_USB_DW3_OMAP, CONFIG_OMAP_CONTROL_PHY. and CONFIG_TI_PIPE3 to my kernel config, but I get the same result

Note: The USB0_DRVVBUS and USB0_ID pins are floating,

Kernel Config

0523.defconfig.txt

Relevant parts of device tree:

&main_pmx0 {
	usb0_pins_default: usb0_pins_default {
		pinctrl-single,pins = <
			AM65X_IOPAD(0x02bc, PIN_OUTPUT, 0) /* (AD9) USB0_DRVVBUS */
		>;
	};
}


&dwc3_0 {
	status = "okay";
};

&usb0_phy {
	status = "okay";
};

&usb0 {
	pinctrl-names = "default";
	pinctrl-0 = <&usb0_pins_default>;
	dr_mode = "peripheral";
};