Well, this is rather coincidental as I had the same question a few days ago and I figured I could spend some time away from my usual worries.
The short story as far as I gathered:
Due to device tree changes - which are imported from the Linux kernel tree and are maintained by TI - which weren't yet implemented in FreeBSD, the AM335x support had declined to a point it no longer booted. After that the necessary drivers were removed from the GENERIC (armv7) kernel to prevent issues and maybe compilation errors.
There is
a page on the wiki which talks about several patches (for CURRENT - FreeBSD 15) which are currently in review to make it boot again.
Like I said, a few days ago I posed myself the same question and checked if I could get it to boot again with these patches and surely, it does. The catch is that you'd have to apply these patches to your local source tree including resolving any conflicts, then create your own image from said source tree. This is rather easy, but does take quite a while.
As it happens I already triaged them and applied them to the stable/14 sources with some compilation fixes. Most likely the same commits can be applied to the current 14.1-RELEASE (or with very minor changes) but I haven't tested this myself. By the time I finish up my experiments we'll probably be at 14.2-RELEASE.
If you're impatient you can check out a
filtered stable/14 branch from my github (meaning: I removed a commit which doesn't compile from my stable/14). I've just rebased it, but 99% certain it should still compile. Note: I take NO CREDIT for the patches. Much smarter people have written and (partially) reviewed these fixes.
For those who want to create an image from that (or any other src) tree:
sh release/release.sh -c release/arm/GENERICSD.conf
and then be very patient.
Cherry-picking the same fixes onto releng/14.1 should be rather feasible as well, if 14/stable is too experimental for you.
As far as testing goes: my BBB is currently building its own kernel just to ensure everything is working well and it's been doing so without issues but rather slowly