Refer section OSM GPIOs from the OSM hardware user guide for SoC PAD name of the corresponding OSM pin name.
Copy the PAD name and search in the file,
“arch/arm64/boot/dts/freescale/imx93-pinfunc.h” in linux source to get the IOMUX.
Select the exact ALT function for the PAD and use it in dts.
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Please find the detailed G50S product information in the below link,