Going from SDK 9.2.1 --> SDK 10.0, we removed this code from k3-am62-lp-sk.dts:

/*

• All SoC variants with the AMC package have no PRU.
• Attempting to access the PRU on these devices will
• result in a crash at kernel bootup.
  *
• For now, we do not have any code that can figure out
• the absence of the PRU by reading any SoC registers,
• so for now disable the PRU here in the board DTS file.
  */
  &pruss { status = "disabled"; }

  ;

Was that an intentional decision, or an accident?
I just had a forum customer who was unable to use PRU on the AM62 LP SK board, so it seems like the AMC package is still in use.

This is the ONLY place TI currently documents the lack of a PRU (i.e., not discussed in ANY hardware documentation), so it is very important that this information stays visible. Example customer struggle here: https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1410855/sk-am62-lp-pru-usage-on-am625-soc

Fix:
https://github.com/TexasInstruments/processor-sdk-doc/pull/302