Explore the journey from vendor-specific BSPs to a maintainable, upstream-based embedded Linux system in this conference talk. Learn to evaluate SoC support, integrate barebox bootloader into Yocto BSP, and configure atomic and redundant updates using RAUC. Discover the benefits of swimming upstream, including improved maintainability and reproducibility. Follow a step-by-step guide through initial Yocto setup, board support layer creation, machine configuration, and implementation of A/B partitioning for reliable system updates. Gain insights into overcoming challenges associated with downstream BSPs and embracing upstream solutions for embedded projects.