@garritfra IME it's usually a buildroot where the kernel is launched from u-boot (which is launched from usually the mask rom but sometimes something else, if you want/need to play with that check the SoC documentation.)
u-boot is a huge pain and I would avoid messing with it unless I had a very good reason to.
Anyone selling something running Linux is obligated to provide you with the kernel source code, often there's enough to rebuild the firmware without their application but in some cases there isn't.