Hello Nolan Z,
According to the current datasheet for the i.MX8QuadXPlus, it supports USB 3.0.
https://www.nxp.com/docs/en/data-sheet/IMX8QXPAEC.pdf
Setting up the USB version limitation, I haven’t seen this specific functionality available as part of the Yocto Project for the i.MX processors.
Some third parties like WindRiver may have some approximate implementations like the following, but I haven’t seen any ported to i.MX Processors (perhaps due to the USB 3.1 limitation)
https://github.com/WindRiver-Labs/linux-yocto-5.2/blob/master/Documentation/driver-api/usb/typec_bus...
My apologies for the inconvenience!
Regards,