As a user that’s actually done this via TCB, I concur it is not for the faint of heart, since if you do it wrong it will render your device unable to boot - but it is indeed possible. (In fact, if you look at the ostree-customize-plymouth script that is used by TCB to change the static image, it does something similar.) There’s a high-level overview of the principles in this thread, but of course it is not endorsed nor supported by Toradex, so your mileage may vary: Postioning rotating Cursor in splash screen
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