Create Vivado design and export the hardware with bitstream.
Default hdf (hardware description file) location is:

<project_directory>/<project_name>.sdk/

In case you need it (but usually you shouldn't), default bitstream location is:

<project_directory>/<project_name>.runs/impl_1/

Setup PetaLinux enviroment (see Install PetaLinux)

Create PetaLinux project:

petalinux-create --type project --template zynqMP --name <boot_project_name>
cd <boot_project_name>

Get hardware description from Vivado project:

petalinux-config --get-hw-description <path_to_vivado_project_directory>/<project_name>.sdk/

Set booting from SD card by navigating through settings tree and choosing the proper options:

Subsystem AUTO Hardware Settings -> Advanced bootable images storage Settings -> boot image settings  : set ‘image storage media’ option to ‘primary sd’
                                                                              -> kernel image settings: set ‘image storage media’ option to ‘primary sd’
                                                                              -> dtb image settings   : set ‘image storage media’ option to ‘primary sd’
                                 -> SD/SDIO Settings ->  Primary SD/SDIO: set to 'psu_sd_1'
                                 
Image Packaging Configurations   -> ‘Root filesystem type’: set to ‘SD card’
                                 -> 'Device node of SD device': set to '/dev/mmcblk1p2'
                                 -> 'Copy final images to tfpboot': uncheck
                             
Firmware Version Configuration   -> Set 'Hostname', 'Product name' and 'Firmware Version' according to your preferences
                              

Select Exit to write the configuration.

In case you want to reconfigure boot settings, run:

petalinux-config

Check whether all required drivers/modules are enabled in kernel config:

petalinux-config -c kernel

Hint: you can use vim-like search /<search_string> to list all enabled drivers/modules.
Remember to Save changes before exit – it seems taht there is no autosave!
I.e. set hostname:

General setup -> Default hostname: set the hostname

Make the I2C multiplexers drivers compiled as kernel module (not build up - there should be '<M>', not '<*>'):

Device Drivers -> <*> I2C support -> Multiplexer I2C chip support -> <M> NXP PCA9541 I2C Master Selector
                                                                     <M> Philips PCA954x I2C Mux/switches

In order to use the generic UIO driver uio_pdrv_genirq enable kernel modules in kernel config by navigating through settings tree and enabling modules (there should be '<M>', not '<*>'):

Device Drivers -> <*> Userspace I/O drivers -> <M> Userspace I/O platform driver with generic IRQ handling
                                               <M> Userspace platform driver with generic irq and dynamic memory

Fix device tree for TEBF0808. In file

vim ./project-spec/meta-user/recipes-bsp/device-tree/files/system-user.dtsi

and add the entry at the end of this file:

/* SD */
&sdhci1 {
    // disable-wp;
    no-1-8-v;
};
 
/* ETH PHY */
&gem3 {
    phy-handle = <&phy0>;
    phy0: phy0@1 {
        device_type = "ethernet-phy";
        reg = <1>;
    };
};
 
/* QSPI */
&qspi {
    #address-cells = <1>;
    #size-cells = <0>;
    status = "okay";
    flash0: flash@0 {
        compatible = "jedec,spi-nor";
        reg = <0x0>;
        #address-cells = <1>;
        #size-cells = <1>;
    };
};
 
/* I2C */
&i2c0 {
    i2cswitch@73 { // u
        compatible = "nxp,pca9548";
        #address-cells = <1>;
        #size-cells = <0>;
        reg = <0x73>;
        i2c-mux-idle-disconnect;
 
        i2c@2 { // PCIe
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <2>;
        };
        i2c@3 { // i2c SFP
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <3>;
        };
        i2c@4 { // i2c SFP
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <4>;
        };
        i2c@5 { // i2c EEPROM
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <5>;
        };
        i2c@6 { // i2c FMC
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <6>;
 
            si570_2: clock-generator3@5d {
                #clock-cells = <0>;
                compatible = "silabs,si570";
                reg = <0x5d>;
                temperature-stability = <50>;
                factory-fout = <156250000>;
                clock-frequency = <78800000>;
            };
        };
        i2c@7 { // i2c USB HUB
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <7>;
        };
    };
    i2cswitch@77 { // u
        compatible = "nxp,pca9548";
        #address-cells = <1>;
        #size-cells = <0>;
        reg = <0x77>;
        i2c-mux-idle-disconnect;
        i2c@0 { // i2c PMOD
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <0>;
        };
        i2c@1 { // i2c Audio Codec
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <1>;
            /*
            adau1761: adau1761@38 {
                compatible = "adi,adau1761";
                reg = <0x38>;
            };
            */
        };
        i2c@2 { // i2c FireFly A
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <2>;
        };
        i2c@3 { // i2c FireFly B
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <3>;
        };
        i2c@4 { // i2c PLL
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <4>;
        };
        i2c@5 { // i2c SC
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <5>;
        };
        i2c@6 { // i2c
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <6>;
        };
        i2c@7 { // i2c
            #address-cells = <1>;
            #size-cells = <0>;
            reg = <7>;
        };
    };
};

In order to use the generic UIO driver modify the device tree to assign the compatibility with this driver to your hardware:

vim ./project-spec/meta-user/recipes-bsp/device-tree/files/system-user.dtsi

and add the entry at the end of this file:

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

for every hardware module you have.
Please notice that axi_gpio_0 is only an example of module name!

Fix the u-boot bug – a typo in default boot command.
The proper boot configure entry:

default_bootcmd=run uenvboot; run cp_kernel2ram && bootm ${netstart}

is created by PetaLinux as

default_bootcmd=run uenvboot; run cp_kernel2ram && run cp_dtb2ram && booti ${netstart} - ${dtbnetstart}

with the typo in booti instead of bootm command.

To fix this bug, edit the platform-top.h file (it would not be overwrite if you reconfigure the boot or kernel):

vim ./project-spec/meta-user/recipes-bsp/u-boot/files/platform-top.h

and add the following entry at the end:

/* Due to a bug where having u-boot load dtb from SD card causes the boot
 * command to default to using booti instead of bootm on Zynq, the defult build
 * fails to boot. This boot command override is a temporary workaround.
*/
#ifdef CONFIG_BOOTCOMMAND
#undef CONFIG_BOOTCOMMAND
#define CONFIG_BOOTCOMMAND	"run uenvboot; run cp_kernel2ram && run cp_dtb2ram && bootm ${netstart} - ${dtbnetstart}"
#endif

Build the boot and kernel:

petalinux-build

Determinate the bit file name in PetaLinux project (it is copied automatically from Vivado design by –get-hw-description):

ls ./images/linux/*.bit

Create BOOT.BIN image:

petalinux-package --boot --format BIN --fsbl ./images/linux/zynq_fsbl.elf --fpga ./images/linux/<bit_filename>.bit --u-boot