ID pin is grounded properly in board-init ,so you otg port only can use host ,right? If yes,I suggest you that only select the otg host driver,not load otg and udc driver. If USB device plugged in to OTG port, there is a portsc interrupt to indicate that something happen.
If you want to debug the issue, I suggest you indacate that is there interrupt happen when you plug in your device to otg port.