Please note that this debian package is included in BSP package by default.
The suggested method to update those debian package is to use nv_repackager.sh and nvdebrepack.sh and you can find the instruction in Repackaging Debian Packages.
Do you have the requirement to release your custom kernel debian package on server?
If not, you can refer to the steps in Kernel Customization to update the related kernel image/dtb which will include all you custom modifications. And you can use them to generate custom image-based OTA package to update the board.