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Linux/AM5728: Is it possible to boot up from eMMC and load up a new kernel?

Part Number: AM5728

Tool/software: Linux

Hello,

I was wondering if it's possible to boot up from the eMMC, then move rootfs and uboot files over via scp, and somehow writing the files to the eMMC? 

Does anyone know how to do that or if it's even possible? 

I ask because I will only have ethernet access to my board, so updating the kernel via SD card won't be possible in the final product.