Hey I have been writing blogs on the Zynq and Zynq MPSoC for a few years for the microzed chronicles
You might find the following tutorials useful, the blog updates weekly but it is not always Ultra96 based
How to build petalinux from scratch and with the BSP
https://www.hackster.io/adam-taylor/two-methods-of-building-petalinux-for-the-ultra96-77c8e0
A look at acceleration of Encryption with the Configuration Security Unit
