We have implemented the same USB-C circuitry as on the Xavier dev kit. We have sourced the Cypress CY4541 EZ-PD CCG4 EVK to configure, test and flash the USB PD controller chip: CYPD4226-40LQXIT (U513). Please provide the configuration file (CYACD extension).
For USB firmware issue, I think you should contact Cypress directly.
We released the binary in below link.