We used $dd if=disk_j784s4.img of=</dev/sdX> status=progress bs=4M conv=fsync command to flash the image to the sd card and then sd card inserted to the TDA4 board but then we were not able to see any boot logs.
Then we took the boot files from TI pre-built image (https://dr-download.ti.com/software-development/software-development-kit-sdk... sd card and then retried booting then uboot was up.
Next we added aboot-6.12.0-202.el10iv.aarch64.img and .dtb file to the boot folder then we were able to do the bringup.