Thanks for the reply. After further troubleshooting, it looks like it is not specifically tied to the CAAM encryption. I was able to get an crash by just creating 6 threads of "yes > /dev/null".
I was looking through the IMX8_1N94W errata document and ERR050104 mentioned a cache coherency issue. Could this be related to the crash? Is there already a patch in the kernel to address this issue?