How to display bootscreen until userspace is loaded in yocto

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I'm currently developing a custom image for an embedded system with Yocto. My current boot process (on the display) is: Kernel logo -> Black/empty screen (Kernel loaded, now loading userspace) -> Userspace Application.

For a better user experience i want to get rid of the black screen between kernel and userspace (custom logo is shown from kernel start until userspace is loaded). I tried using pslpash, but it basically just replaces the kernel logo.

How can i show a single boot logo from kernel start to userspace?

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