My question for the community: What have you tried, what can you recommend? Can you link to other additional material / further readings / board specific examples?
From a Linux point of view I would like to use a typical A/B installation schema. Yocto build support should be includeded, so the usual image based SW update tools with Yocto support come to mind (like RAUC, sbabic SWUpdate, Mender, see https://wiki.yoctoproject.org/wiki/System_Update )
However, the update shall also be able ro replace the "other" firmware parts of the MpSoC, like PL bitstream and R5 firmware. Hence I need to exchange the Xilinx Bootgen boot.bin file in the boot partition / the QSPI flash during the SW update. A Pre/Post Installation hook seems the solution (as most of the above SW update tools provide).