Hello @vipulkumar1
I hope you are doing very well.
You can try compiling the core-image-minimal following the Yocto User's Guide.

You can see that image just allows the device to boot.
If you need to make optimization for boot time, please take a look to the AN14093 (Fast Boot on i.MX 8 and i.MX 9 Using Falcon Mode and Kernel Optimizations)
Best regards,
Salas.