Thank you very much for your help on the second issue! I was unaware of the fact that another mkimage call is necessary. After taking a look at the the references you provided, I was able to boot the system from an initramfs.
However, my current approach requires two manual steps after running Yocto: I need to call mkimage on the cpio.xz file and to extend/configure the U-Boot environment in the running system. Is there a way to automate this? More specifically, is it possible to... * have Yocto generate an initramfs.cpio.xz.uboot file instead of just an initramfs.cpio.xz file and to * modify the default environment that Yocto will compile into the U-Boot binary?
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