You are very close!!!

One thing to try right away is to:

rmmod pru_rproc

and then 

modprobe pru_rproc

I don't think you are removing pru_rproc before re-probing it.
In my latest Debian image this works, and you don't need to do the bind in 
addition to this.
Of course the bind should work as well.

Now, based on the dates you show, you may be using the old Remoteproc 
framework which uses the mailboxes.
Look in your code for the PRUs and see if you see the numbers like 58 or 59.
The new system flags should be like 18 or 19.

If you have the old mailboxes you can convert your code easily enough.  In 
fact, it will probably be simplified.
Get the latest PRU Support package and look at the examples directory:

https://git.ti.com/pru-software-support-package

I'm pretty sure if you have the old mailboxes code you will get the 
behavior you are observing.

Regards,
Greg

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