The simplest possible .cfg for building a single linux roots

Hello,

I went through the PX2 foundation documentation and what I learned seems too complex and not useful for my purposes. Namely playing with the cameras and so on and achieving the maximum performance through customization of everything. (i’m gentoo user)

So I was wondering is it possible to simplify the booting process and the rootfs structure.

I just want to use a single ubuntu rootfs with rt kernel patches, if possible without any hyper-visor and this over-complicated, yet useless to me stuff.

Is it possible to achieve a sane linux partitioning (e.g. separate rw /home; ro /; ramfs /var formatted as f2fs) without losing any of the hardware functionality?

Additionally, is it possible to use u-boot instead of the standard nvidia bootloader?

Thank you for the support!