If I understand you correctly, your image does not contain a boot loader, only the A53 code. I think you have two options:
1. Continue using u-boot: In this case you have to program both the original u-boot image and additionally your image to a separate address in eMMC flash. Once both are programmed, boot into u-boot and configure it to copy your image from eMMC to RAM address 0xF0000000. Once this is done you can boot it using bootm 0xf0000000 as usual
2. Without u-boot: You have to create a eMMC image that follows the format expected by the iMX8QM boot ROM. The boot ROM will then read the information from the header and set up the system as defined in the header.
Best regards,
Reinhard