DFU embedded mcumgr-client tool for Yocto (thud) to nrf 5340

A project I am working is proposed to have an nrf 5340 connected via UART to Yocto (Thud). Am looking for suggestions on an embedded client that will work with v3.0.0 of the NRF SDK, preferably without the need for go / rust and the like.

Are there any that would work? Outside of that it would be developing our own SMP solution (time and $$)..

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