I was able to rewrite my configuration script into this, which is again 
working. I would still like to hear if anyone has better ways of achieving 
this.

#/bin/sh

config-pin 8.45 pruout
config-pin 8.46 pruin
config-pin 8.39 pruout
config-pin 8.40 pruin
config-pin 8.27 pruout
config-pin 8.29 pruin
config-pin 8.28 pruout
config-pin 8.30 pruin

while [ ! -e /dev/rpmsg_pru31 ]
do
    echo "Trying to start PRU remoteproc "
    echo -n start > /sys/class/remoteproc/remoteproc2/state
    sleep 1
done

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