Even if there is one or the other bare metal implementation for i.MX6 flying around, NXP does not support that (anymore).
However, when we talk about bare metal we forget most of the time that there is u-boot. It is not Linux. Among other things it contains support for the LVDS display we are using in combination with our i.MX6Q SABRESD board. During startup it already shows some penguins and text. Look into this doc:
https://community.nxp.com/docs/DOC-328584
Regards,
Bernhard.