On the BeagleBone Black, I used the overlays defined in /boot/uEnv.txt to 
enable CAN and some UARTs and to disable several things like HDMI etc. Now 
I received my BBAI a few days ago where the whole overlay setup has been 
removed from uEnv.txt.

I then went ahead and tried to use the config-pin tool but for any pin I 
tried (I even tried to set some to GPIO) it errored out (I can't look up 
the error right now but could tomorrow, if it matters).

My question: How do I enable peripherals like CAN and UART (with or without 
overlays, it doesn't matter to me)?

I used the Debian 9.9 LXQT image 
(https://debian.beagleboard.org/images/am57xx-debian-9.9-lxqt-armhf-2019-08-03-4gb.img.xz)

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