Hi,
I have a default 6.6 build that is able to use the gadget mode mass storage on USB C port 1 successfully. I'm building a 6.1 image to currently and can check it once its complete.
Are you using a pre-built released image or did you do a fresh yocto build?
If a custom yocto build was used, you might check that the kernel has all the relevant drivers enabled from the menuconfig. The default Linux and Uboot device trees in our BSP show the same USB mode configurations.
Can you check your usb modes for me?
cat /sys/kernel/debug/usb/38100000.usb/mode
cat /sys/kernel/debug/usb/38200000.usb/mode
Regards,
Clay