Jetson Xavier NX based custom board MCU programming

I am planning to design a custom board based on jetson XAVIER NX. I am a little confused about the programming of the MCU Chip.
After reading the forum, I had understood that this chip will be programmed through the C2 interface for which I had left a header with the connections of C2CK, C2D, and Ground.
I also got the firmware file from the forum. The problem is that what will be the programming interface of this firmware? Do I need any other hardware/programmer/debugger or what else do I need to program the chip?

For devkit, it has been flashed. For custom design, the circuit design should follow reference and customer should get the flashing instructions from Silicon Labs.

I will contact silicon labs for the programming of the IC.