AM5728: Building linux devkit properly

Hello!
I am using am5728 in my custom board with Linux SDK.
Now I would to create environment which allow our team develop applcations for this platform.
That is why i need to create devkit for this.
This devkit have to include kernel headers, system libraries (libc), headers and binaries for components that i included in my rootfs.

I use linux sdk 05.02.00.10
I build modified kernel, modified u-boot and rootfs with neccecary libraries and applications.
What is the best way to build this dev kit?
I need headers from my kernel sources. I keep its in SDK/board-support/linux-4.14.79+gitAUTOINC+bde58ab01e-gbde58ab01e/ directory/
Also headers for exactly the same components from my rootfs need to be included in my dev kit.

I see two ways (but not tested yet).
First: will build devkit with "MACHINE=am57xx-evm bitbake <image_name> -c populate_sdk". I guess that all headers for components in <image_name> (recipe for build rootfs) will be included in it. But I will need to install linux headers some way in that devkit.
Second: will build devkit with "MACHINE=am57xx-evm bitbake meta-toolchain-arago-tisdk". In this case i guess i need to syncronize my recipe for base image (recipe for build rootfs) with recipe for meta-toolchain-arago-tisdk. Also i will need to install linux headers some way in new devkit.

Is exist way that allow me to include kernel headers in my devkit with bitbake build process?
Maybe I should include in my recipes some action for including headers from kernel in devkit?
Are there some examples how i can do this?

My main aim is build consistent components: kernel, devkit, rootfs. I mean I would have one place where i specify components and can generate appropriate listed components. What is the best way to do this? I hope someone will get me some advice.
Thanks.