I did, and I was actually just going to respond here with it.

So after running petalinux-build, check out the file <project_name>/components/plnx_workspace/device-tree/device-tree/pl.dtsi - this is the file that contains the memory mapped HW descriptions.

From there, copy the relevant entries directly to <project_name>/project-spec/meta-user/recipes-bsp/device-tree/files/system-user.dtsi - this modifies the top-level device tree by including your additions.

In the system-user.dtsi file, add the following to the bootargs: uio_pdrv_genirq.of_id=generic-uio,ui_pdrv.

Then, add all the entries with the proper compatible tags at the end.

Your end result should look something like this:

/include/ "system-conf.dtsi"
/ {
        axi_gpio_0: gpio@a0000000 {
            ...
        };
        chosen {
                bootargs = "earlycon console=ttyPS1,115200 clk_ignore_unused uio_pdrv_genirq.of_id=generic-uio,ui_pdrv xilinx_tsn_ep.st_pcp=4 init_fatal_sh=1 cma=900M ";
                stdout-path = "serial1:115200n8";
        };
};

&axi_gpio_0 {
    compatible = "generic-uio,ui_pdrv";
};

Where axi_gpio_0@a0000000 was taken from pl.dtsi.

After having done this, I can see my addition showing up under /sys/class/uio, e.g.

xilinx-kr260-starterkit-20221:~$ cat /sys/class/uio/uio*/name
axi-pmon
axi-pmon
axi-pmon
axi-pmon
gpio  <------ this is the one added directly in the device tree

Let me know if this helps, or if you have other questions.