diff --git a/kas/jetson-orin-16gb-nx-p3786.yml b/kas/jetson-orin-16gb-nx-p3786.yml
new file mode 100644
index 000000000..62d325c04
--- /dev/null
+++ b/kas/jetson-orin-16gb-nx-p3786.yml
@@ -0,0 +1,19 @@
+header:
+  version: 14
+  includes:
+    - kas/include/mender-full.yml
+    - kas/include/tegra-jetpack6.yml
+
+machine: p3768-0000-p3767-0000
+
+local_conf_header:
+  AB-upgrades: |
+    UBOOT_EXTLINUX = "1"
+    USE_REDUNDANT_FLASH_LAYOUT_DEFAULT = "1"
+  eMMC: |
+    # equivalent: EMMC_SIZE = "32 * 1024 * 1024 * 1024"
+    EMMC_SIZE = "34359738368"
+    # Not needed with the custom partition layout
+    MENDER_FEATURES_DISABLE:append = " mender-growfs-data"
+    MENDER_DATA_PART_NUMBER = "17"
+    MENDER_STORAGE_DEVICE = "/dev/nvme0n1"
diff --git a/meta-mender-tegra/recipes-bsp/tegra-binaries/tegra-storage-layout/flash_l4t_t234_nvme_rootfs_ab.xml b/meta-mender-tegra/recipes-bsp/tegra-binaries/tegra-storage-layout/flash_l4t_t234_nvme_rootfs_ab.xml
new file mode 100644
index 000000000..117d53062
--- /dev/null
+++ b/meta-mender-tegra/recipes-bsp/tegra-binaries/tegra-storage-layout/flash_l4t_t234_nvme_rootfs_ab.xml
@@ -0,0 +1,212 @@
+<?xml version="1.0"?>
+
+<!--
+# SPDX-FileCopyrightText: Copyright (c) 2023-2024 NVIDIA CORPORATION & AFFILIATES.
+#                         All rights reserved.
+# SPDX-License-Identifier: LicenseRef-NvidiaProprietary
+#
+# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+# property and proprietary rights in and to this material, related
+# documentation and any modifications thereto. Any use, reproduction,
+# disclosure or distribution of this material and related documentation
+# without an express license agreement from NVIDIA CORPORATION or
+# its affiliates is strictly prohibited.
+-->
+
+<!-- Nvidia Tegra Partition Layout Version 1.0.0 -->
+<partition_layout version="01.00.0000">
+    <device type="external" instance="0" sector_size="512" num_sectors="EXT_NUM_SECTORS" >
+        <partition name="master_boot_record" type="protective_master_boot_record">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 512 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+        </partition>
+        <partition name="primary_gpt" type="primary_gpt">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 19968 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+        </partition>
+        <partition name="A_kernel" id="3" type="kernel">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 134217728 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+            <filename> LNXFILE </filename>
+        </partition>
+        <partition name="A_kernel-dtb" type="kernel_dtb">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 786432 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+            <filename> DTB_FILE </filename>
+        </partition>
+        <partition name="A_reserved_on_user" type="data">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 33161216 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+        </partition>
+        <partition name="B_kernel" type="kernel">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 134217728 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+            <filename> LNXFILE_b </filename>
+        </partition>
+        <partition name="B_kernel-dtb" type="kernel_dtb">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 786432 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+            <filename> DTB_FILE </filename>
+        </partition>
+        <partition name="B_reserved_on_user" type="data">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 33161216 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+        </partition>
+        <partition name="RECNAME" type="kernel">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> RECSIZE </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+            <filename> RECFILE </filename>
+        </partition>
+        <partition name="RECDTB-NAME" type="kernel_dtb">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 524288 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+            <filename> RECDTB-FILE </filename>
+        </partition>
+        <partition name="esp" type="data">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 67108864 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 0x8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+            <filename> ESP_FILE </filename>
+            <partition_type_guid> C12A7328-F81F-11D2-BA4B-00A0C93EC93B </partition_type_guid>
+            <description> **Required.** EFI system partition with L4T Launcher. </description>
+        </partition>
+        <partition name="RECNAME_alt" type="kernel">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> RECSIZE </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+        </partition>
+        <partition name="RECDTB-NAME_alt" type="kernel_dtb">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 524288 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+        </partition>
+        <partition name="esp_alt" type="data">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 67108864 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 0x8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+            <description> **Required.** EFI system partition for fail-safe ESP update. </description>
+        </partition>
+        <partition name="UDA" type="data">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 419430400 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+            <align_boundary> 16384 </align_boundary>
+            <description> **Required.** This partition may be mounted and used to store user
+              data. </description>
+        </partition>
+        <partition name="reserved" type="data">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 502792192 </size> <!-- Recalculate the size if RECSIZE changed -->
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+            <description> **Required.** Reserve space in case there is any partition change
+              required in the future, for example, adding new partitions or increasing size
+              of some partitions. </description>
+        </partition>
+        <partition name="APP" id="1" type="data">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> APPSIZE </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 0x8 </allocation_attribute>
+            <align_boundary> 16384 </align_boundary>
+            <percent_reserved> 0 </percent_reserved>
+            <unique_guid> APPUUID </unique_guid>
+            <filename> APPFILE </filename>
+            <description> **Required.** Contains the rootfs. This partition must be assigned
+              the "1" for id as it is physically put to the end of the device, so that it
+              can be accessed as the fixed known special device `/dev/nvme0n1p1`. </description>
+        </partition>
+        <partition name="APP_b" id="2" type="data">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> APPSIZE </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 0x8 </allocation_attribute>
+            <align_boundary> 16384 </align_boundary>
+            <percent_reserved> 0 </percent_reserved>
+            <unique_guid> APPUUID_b </unique_guid>
+            <filename> APPFILE_b </filename>
+            <description> **Required.** Contains the rootfs. This partition must be assigned
+              the "2" for id as it is physically put to the end of the device, so that it
+              can be accessed as the fixed known special device `/dev/nvme0n1p2`. </description>
+        </partition>
+        <partition name="permanet_user_storage" id= "17" type="data">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 419430400 </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 0x808 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+            <align_boundary> 16384 </align_boundary>
+            <filename> DATAFILE </filename>
+            <description> **Required.** This partition is used to store permanent user
+              and device data between A/B updates</description>
+        </partition>
+        <partition name="secondary_gpt" type="secondary_gpt">
+            <allocation_policy> sequential </allocation_policy>
+            <filesystem_type> basic </filesystem_type>
+            <size> 0xFFFFFFFFFFFFFFFF </size>
+            <file_system_attribute> 0 </file_system_attribute>
+            <allocation_attribute> 8 </allocation_attribute>
+            <percent_reserved> 0 </percent_reserved>
+        </partition>
+    </device>
+</partition_layout>
diff --git a/meta-mender-tegra/recipes-bsp/tegra-binaries/tegra-storage-layout_%.bbappend b/meta-mender-tegra/recipes-bsp/tegra-binaries/tegra-storage-layout_%.bbappend
new file mode 100644
index 000000000..50c29e8c2
--- /dev/null
+++ b/meta-mender-tegra/recipes-bsp/tegra-binaries/tegra-storage-layout_%.bbappend
@@ -0,0 +1,7 @@
+FILESEXTRAPATHS:prepend := "${THISDIR}/${PN}:"
+
+SRC_URI:append = " \
+    file://flash_l4t_t234_nvme_rootfs_ab.xml \
+"
+
+PARTITION_FILE_EXTERNAL = "${WORKDIR}/flash_l4t_t234_nvme_rootfs_ab.xml"