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I see mainly two possibilities for your needs. You can setup a debian repository. Then you only need an initial SD Card installation that can be updated with apt from your own repository. How to do it you may have a look at Debian Repository Setup. You can setup a net booting infrastructure. This is more flexible than an repository because you can load ...


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There is a good whitepaper here which describes in detail the differences between Yocto and Debian(Raspbian is a flavor of Debian). From the whitepaper, the gist is: Debian is good for fast trials, proof of concept and desktop like environments on hardware already supported by Debian with large memories and limited requirements for maintenance, ...


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