Hi Aaron,
Have you solve the problem? Hopeful you have done it. And also, I attach the operation step by step in below:
$ mkdir fsl-release-bsp
$ cd fsl-release-bsp
$ repo init -u git://git.freescale.com/imx/fsl-arm-yocto-bsp.git -b imx-3.14.52-1.1.0_ga
$ repo sync
$ DISTRO=fsl-imx-x11 MACHINE=imx6sxsabresd source fsl-setup-release.sh -b build-x11
$ bitbake fsl-image-gui
After that, you can check the RPMSG source code in below path:

And then, in your build directory, execute the below operations:
$ bitbake linux-imx -c menuconfig

Find the path Device Drivers -> Rpmsg drivers -> RPMSG bus driver -> select the tty driver, and then save it.
then, execute the below:
$ bitbake linux-imx -c compile -f
$ bitbake linux-imx -c deploy
after then, you can get the new zImage and ext3 files to your SD card,( I assume that you can do that)...
Open the SSH console, such as 'Putty' or 'Secure-CRT', then power on your development kit and login in 'root' identity.
For A9 console, you can find the RPMSG driver in below:

and then execute 'cd rpmsg" to enter into it, insmod imx_rpmsg_tty.ko, then you will find the 'ttyRPMSG" in /dev/ directory, shown below:

lastly, I am sure you can do the follow steps in person.
Best wishes
Wei