RZG2UL: Running M33 core application from Uboot

We are testing M33 core on RZG2UL evk board.
We tested rpmsg demo application given along with vlp3.0.1 BSP and it is working.

After compiling blinky application in e2studio for G2UL evk blinky.elf binary is generated.

Should we use JTAG only for testing applications on M33 core or is there any commands to run application from Uboot?

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