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The training courses for Xilinx Zynq and Zynq UltraScale+ devices that we at Avnet have created in the past have always focused on software first.
This recent webinar series that features the Ultra96-V2 board is a great place to start:
This is also a good training done by a company in Europe:
I Found the OHWR material really useful. There was one part in particular that was interesting but not hand holding: to actually see it work you have to draw on what they have told you up to that point as well as you’re own ability to apply it! Much better than the YouTube “do this, then do this, then do that…” vids which are great to get you off the ground but quickly run out of learning efficacy.