diff --git a/.checkpackageignore b/.checkpackageignore
index 778e3b8651..8ce5047ae6 100644
--- a/.checkpackageignore
+++ b/.checkpackageignore
@@ -91,7 +91,6 @@ board/synopsys/axs10x/post-build.sh Shellcheck
 board/technologic/ts4900/post-image.sh Shellcheck
 board/toradex/apalis-imx6/post-image.sh Shellcheck
 board/udoo/common/post-build.sh Shellcheck
-board/udoo/mx6qdl/patches/linux/0000-udoo-disable-usbh1.patch lib_patch.Upstream
 boot/afboot-stm32/0003-Makefile-disable-stack-protector.patch lib_patch.Upstream
 boot/optee-os/3.13.0/0001-core-zlib-fix-build-warning-when-_LFS64_LARGEFILE-is.patch lib_patch.Upstream
 boot/syslinux/0001-bios-Fix-alignment-change-with-gcc-5.patch lib_patch.Upstream
diff --git a/board/udoo/mx6qdl/patches/linux/0000-udoo-disable-usbh1.patch b/board/udoo/mx6qdl/patches/linux/0000-udoo-disable-usbh1.patch
deleted file mode 100644
index d151a40d6e..0000000000
--- a/board/udoo/mx6qdl/patches/linux/0000-udoo-disable-usbh1.patch
+++ /dev/null
@@ -1,26 +0,0 @@
-[PATCH] ARM: dts: imx6qdl-udoo: Disable usbh1 to avoid kernel hang
-
-Currently the kernel hangs when USB Host1 is enabled due to the lack of
-support for controlling the USB hub clock and GPIO reset line.
-
-Peter Chen has made several attempts to fix this problem, but his series
-has not been applied yet, so better disable USB host1 for now to avoid
-the kernel hang.
-
-Signed-off-by: Fabio Estevam <fabio.estevam@nxp.com>
----
-
-diff --git a/arch/arm/boot/dts/imx6qdl-udoo.dtsi b/arch/arm/boot/dts/imx6qdl-udoo.dtsi
-index 828dd20cd27d..c9e122865312 100644
---- a/arch/arm/boot/dts/imx6qdl-udoo.dtsi
-+++ b/arch/arm/boot/dts/imx6qdl-udoo.dtsi
-@@ -292,7 +292,8 @@ &usbh1 {
- 	pinctrl-0 = <&pinctrl_usbh>;
- 	vbus-supply = <&reg_usb_h1_vbus>;
- 	clocks = <&clks IMX6QDL_CLK_CKO>;
--	status = "okay";
-+	/* currently USB support causes a kernel hang. Disable it for now */
-+	status = "disabled";
- };
- 
- &usbotg {
diff --git a/board/udoo/mx6qdl/rootfs_overlay/boot/extlinux/extlinux.conf b/board/udoo/mx6qdl/rootfs_overlay/boot/extlinux/extlinux.conf
new file mode 100644
index 0000000000..cbb284f91b
--- /dev/null
+++ b/board/udoo/mx6qdl/rootfs_overlay/boot/extlinux/extlinux.conf
@@ -0,0 +1,4 @@
+Label imx6qdl-udoo buildroot
+	kernel ../zImage
+	fdtdir ../
+	append root=/dev/mmcblk2p1 rootwait rw
diff --git a/configs/mx6udoo_defconfig b/configs/mx6udoo_defconfig
index 5092ef0fd1..6c84a41bfd 100644
--- a/configs/mx6udoo_defconfig
+++ b/configs/mx6udoo_defconfig
@@ -3,27 +3,26 @@ BR2_cortex_a9=y
 BR2_ARM_ENABLE_NEON=y
 BR2_ARM_ENABLE_VFP=y
 BR2_ARM_FPU_VFPV3=y
-BR2_GLOBAL_PATCH_DIR="board/udoo/mx6qdl/patches"
-# Linux headers same as kernel, a 5.10 series
-BR2_PACKAGE_HOST_LINUX_HEADERS_CUSTOM_5_10=y
+# Linux headers same as kernel, a 6.10 series
+BR2_PACKAGE_HOST_LINUX_HEADERS_CUSTOM_6_10=y
 BR2_TARGET_GENERIC_GETTY_PORT="ttymxc1"
-BR2_ROOTFS_POST_BUILD_SCRIPT="board/udoo/common/post-build.sh"
+BR2_ROOTFS_OVERLAY="board/udoo/mx6qdl/rootfs_overlay"
 BR2_ROOTFS_POST_IMAGE_SCRIPT="board/freescale/common/imx/post-image.sh"
 BR2_TARGET_ROOTFS_EXT2=y
 BR2_TARGET_ROOTFS_EXT2_4=y
 BR2_TARGET_UBOOT=y
 BR2_TARGET_UBOOT_BOARDNAME="udoo"
 BR2_TARGET_UBOOT_CUSTOM_VERSION=y
-BR2_TARGET_UBOOT_CUSTOM_VERSION_VALUE="2020.10"
+BR2_TARGET_UBOOT_CUSTOM_VERSION_VALUE="2024.07"
 BR2_TARGET_UBOOT_FORMAT_IMG=y
 BR2_TARGET_UBOOT_SPL=y
 BR2_TARGET_UBOOT_SPL_NAME="SPL"
 BR2_LINUX_KERNEL=y
 BR2_LINUX_KERNEL_CUSTOM_VERSION=y
-BR2_LINUX_KERNEL_CUSTOM_VERSION_VALUE="5.10.84"
+BR2_LINUX_KERNEL_CUSTOM_VERSION_VALUE="6.10.6"
 BR2_LINUX_KERNEL_DEFCONFIG="imx_v6_v7"
 BR2_LINUX_KERNEL_DTS_SUPPORT=y
-BR2_LINUX_KERNEL_INTREE_DTS_NAME="imx6q-udoo imx6dl-udoo"
+BR2_LINUX_KERNEL_INTREE_DTS_NAME="nxp/imx/imx6q-udoo nxp/imx/imx6dl-udoo"
 BR2_LINUX_KERNEL_INSTALL_TARGET=y
 BR2_LINUX_KERNEL_NEEDS_HOST_OPENSSL=y
 # required tools to create the SD card image
@@ -31,5 +30,3 @@ BR2_PACKAGE_HOST_DOSFSTOOLS=y
 BR2_PACKAGE_HOST_GENIMAGE=y
 BR2_PACKAGE_HOST_MTOOLS=y
 BR2_PACKAGE_HOST_UBOOT_TOOLS=y
-BR2_PACKAGE_HOST_UBOOT_TOOLS_BOOT_SCRIPT=y
-BR2_PACKAGE_HOST_UBOOT_TOOLS_BOOT_SCRIPT_SOURCE="board/udoo/common/boot.scr.txt"