If you look at the available firmware for S19 XP, Bitmain currently does not provide one for Beaglebone Control Board.
The only available firmware is for xilinx 7007, AMlogic and CV1835 CBs.
Since there is no bitmain firmware for Beaglebone CB on S19 XP, you won't be able to run bitmain firmware if you install a beaglebone board.
That being said, the lastest version of BraiinOS v23.02 for S19 XP works on beaglebone boards. They meant to support it for xilinx 7007 as well, but this was somehow missed.
We are running performance tests with BeagleBone CB on S19XP as you can see here