>Why do we need U501(UM803RS) on page 8 for this design?
to guarantee that all board power supplies are stable when POR will release.
RESET_MCU_B of PMIC PF3000 guarantee only PMIC PF3000 output voltages, which are input
to i.MX6. Some time is needed to charge for example _CAP voltages and other board capacitors.
>Could we remove it without any side effect?"
yes, if you guarantee that all board power supplies are stable when POR will release.
Best regards
igor