That sound like choosing either:

"Robert didn’t use overlays" 
or 
"all you need to do is load the PRU overlay file to get uio_pruss working"

Not done here yet with trying both options, but took me a day so far stretching 
my patience in reality.

--> Is there a kernel or preferably an image that's working right away with 
uio_pruss? 

I see some discussion in another post with Robert explains that ti started 
working on remoteproc somewhere around 4.1 kernels. So I hope actually to save 
time with an off-the-shelve alternative around that period with uio being the 
standard, so question here is if there's an advice along that path?

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