It is very clear debug log information the custom board has no typeC chip different from the i.MX8MP evk.
The NXP bsp release is design for the i.MX8MP evk board, which has typeC chip.
Please remove the typeC configuration in uboot configuration file.
if the custom board has no usb id pin as otg, you can use the dr_mode with "peripheral" in dts.
And finished the necessary modification according to the custom board hardware design.
DRAM: 6 GiB
tcpc_init: Can't find device id=0x50
setup_typec: tcpc port2 init failed, err=-19
tcpc_init: Can't find device id=0x50
setup_typec: tcpc port1 init failed, err=-19
MMC: FSL_SDHC: 1, FSL_SDHC: 2