Hello Malay Dhrangadhria,
Adding a new driver in Yocto is not a trivial task. There is some reference on the i.MX BSP Porting Guide (I see that you are using a Variscite board, but the main concepts remain) and the Yocto Project documentation have also useful information but not a step-by-step guide.
The steps look okay. However, are you compiling within Yocto using bitbake? Or outside by cross compiling? If you are building with bitbake it could be that the changes on the kernel configuration are not taking place. This because Yocto is not meant so much as a development tool but rather as a means of distributing custom Linux images.
If you wish to make sure that they do take precedence you would need to add them to a bitbake recipe or append similar to the document below (which us based on an older BSP release so there may be some differences but the logic would be the same).
https://community.nxp.com/docs/DOC-334088
I hope this helps!
Regards,