I have designed a custom AM4378 board and I followed the guide to build the u-boot. There is no any output message from the UART on my costom board but it works on AM4378-GP-EVM.
Here is the build environment:
U-boot: U-boot v2020.10
Cross Compiler: GCC 6.5-2018.12
Config File: am43xx_evm_defconfig