Dear @EJA,
Thanks for the update. This is indeed the way to go. You should either create a custom overlay, or maybe a custom device tree based on our existing ones if you don’t feel comfortable with Overlays (Device Tree Customization | Toradex Developer Center). You could also, for instance, have a look at posts like this one: CAN device-tree configuration on iMX6ULL - #5 by mthpvg
Remember when you build your device tree to check if you don’t have any pin conflict.
Please tell me if this helps you or if you need any further assistance.
Best regards,