OTA update using UART

We use nRF5340 on our product. We need to update the application/driver/firmware remotely in the field using UART. Now looking through all apps and methods avaialble from Nordic, I cannot see anything suitable. So, can you tell me when it comes to OTA update, what is the best and easiest app to use ?

And using nrf5340 we will be trying to control 20 motors and will be reading impedance sensor data. So for that we might need to find a way to do firmware update as well as motor driver update if possible. 

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