Minimum files to start bootloader and initrd (JetPack 5.1)

Hi everyone,
I want to expand my rootfs when the uefi bootloader loads the initrd. In order to do this I am using the following flash command: -I testdir/initrd.cpio.gz
-d testdiir/tegra194-p3668-0000-p3509-0000.dtb
-K testdir/Image
-R rootfs_dir
jetson-xavier-nx-devkit-emmc mmcblk0p1

Flash finishes successfully but the device does not reboot after flashing and I have a dark screen.

When I look inside rootfs_dir/boot directory on my host (or build) machine I have the following files:
/boot (dir has the following):

Image (this is the default image)
extlinux/extlinux.conf (this is an empty file).

Do I need any other files to see the bootloader starting? Do I need to have another directory besides the boot directory? In my case the extlinux.conf is empty (I noticed that the default extlinux.conf is mostly commented out).
Thank you for your help

Hi KavehA,

Are you using the devkit or custom board for Xavier NX?
Could you verify with the latest JP5.1.2(R35.4.1)?

Please refer to the following instruction to setup the BSP package/rootfs to flash the board.
Quick Start — To Flash the Jetson Developer Kit Operating Software

Thank you Kevin, I am aware of flashing with BSP and rootfs. However at this stage I am not yet concerned about the entire rootfs. All I need to have minimum files to be able to run initrd first. it is ok to fail after initrd runs, can this be done?
Yes we have JP 5.1.2 and it is a custom board

To run the initrd, you could just run the following command on your host w/o flashing the board.

$ sudo ./tools/kernel_flash/ --initrd jetson-xavier-nx-devkit-emmc mmcblk0p1

Thank you KevinFFF

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