My steps :
$ mkdir yocto-real-time-edge
$ cd yocto-real-time-edge
$ repo init -u https://github.com/nxp-real-time-edge-sw/yocto-real-time-edge.git -b real-time-edge-mickledore -m real-time-edge-2.8.0.xml
$ repo sync or repo sync --no-clone-bundle
DISTRO=<distro name> MACHINE=<machine name> source real-time-edge-setup-env.sh -b <build dir>
$ DISTRO=nxp-real-time-edge MACHINE=imx93evk source real-time-edge-setup-env.sh -b build-imx93evk
or
$ EULA=1 DISTRO=nxp-real-time-edge MACHINE=imx93evk source real-time-edge-setup-env.sh -b build-imx93evk
$ bitbake nxp-image-real-time-edge