Unable to communicate with M4 core on scarthgap

I verified whether the pins are claimed by linux using below command
cat /sys/kernel/debug/pinctrl/system-controller\:pinctrl/pinmux-pins
looks like pins are not claimed by linux, below is the output of the command
pin 23 (IMX8QM_UART0_RTS_B): (MUX UNCLAIMED) (GPIO UNCLAIMED)
pin 24 (IMX8QM_UART0_CTS_B): (MUX UNCLAIMED) (GPIO UNCLAIMED)

Just to confirm, we are using 7.6.0-devel-202603 version of BSP, Is this a bug in the BSP as given in this community post Imx8 apalis Ixora - M4 core access?

If this is the case, how to proceed to use the I2C from Linux which is currently tightly coupled with the m4 core? Can we decouple this I2C from M4 core and access from Linux?