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To update the initramfs package contents, modify the PACKAGE_INSTALL list in meta-qcom/recipes-kernel/images/initramfs-qcom-image.bb: 
DESCRIPTION = "Ramdisk image for pivoting into rootfs"

PACKAGE_INSTALL += " \
    base-passwd \
    initramfs-module-copy-modules \
    initramfs-module-rootfs \
    initramfs-module-udev \
    ${VIRTUAL-RUNTIME_base-utils} \
    ${MACHINE_ESSENTIAL_EXTRA_RDEPENDS} \
    ${ROOTFS_BOOTSTRAP_INSTALL} \
    "
After modifying PACKAGE_INSTALL, rebuild the full image to apply the change: 
bitbake qcom-multimedia-image
For instructions on building and integrating out-of-tree kernel modules, see Manage out-of-tree kernel modules.