Ok. Figured that out. Added dtb=null to uEnv.txt. That got me to the following output. It hangs at Starting kernel. I figure I need some minimal device tree to at least get the I2C for the power chip set up.
U-Boot 2017.03-rc1-dirty (Feb 13 2017 - 15:07:27 -0700)
OMAP3630/3730-GP ES1.2, CPU-OPP2, L3-200MHz, Max CPU Clock 1 GHz
OMAP3 Beagle board + LPDDR/NAND
I2C: ready
DRAM: 256 MiB
NAND: 0 MiB
MMC: OMAP SD/MMC: 0
*** Warning - readenv() failed, using default environment
Beagle xM Rev C
No EEPROM on expansion board
No EEPROM on expansion board
OMAP die ID: 715e00029ff800000156083e0501c01d
Net: usb_ether
Error: usb_ether address not set.
Hit any key to stop autoboot: 0
switch to partitions #0, OK
mmc0 is current device
Scanning mmc 0:1...
switch to partitions #0, OK
mmc0 is current device
SD/MMC found on device 0
Checking for: /uEnv.txt ...
Checking for: /boot/uEnv.txt ...
62 bytes read in 7 ms (7.8 KiB/s)
Loaded environment from /boot/uEnv.txt
Using: dtb=null ...
Checking if uname_r is set in /boot/uEnv.txt...
Running uname_boot ...
loading /boot/vmlinuz-4.9.7-armv7-rt-x4 ...
6435000 bytes read in 499 ms (12.3 MiB/s)
unable to find null ...
booting legacy ...
debug: [console=ttyO2,115200n8 root=PARTUUID=00000000-02 ro rootfstype=ext4 rootwait] ...
debug: [bootz 0x82000000] ...
Starting kernel ...