How do I set the bootloader back to its default configuration?

Nitrogen93 SMARCTungsten700 SMARCNitrogen8ULP SOMNitrogen6X SOMNitrogen8M Nano SOMNitrogen8M SOMNitrogen8M Mini SOMNitrogen8M Plus SOMNitrogen8M Plus SMARC

Answer

The command env erase will restore defaults when executed in the bootloader.