NXP does not test every mainline kernel release. Thus, if you are asking about the latest mainline kernel, or some community-maintained repository that offers kernel releases ahead of NXP LSDK, the answer is, we hope that the building procedure is not very much different from what we have tested.
If you wish to stay with an NXP-verified kernel, use the (L)SDK repository and the appropriate branches and tags. I have shown above how to identify them using bitbake.
As of Yocto, it is only a build automation tool. Everything done by Yocto can be done manually, but you have to be familiar with Yocto recipes to follow them accurately by hand.
Have a great day,
Platon
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