Hi
While we did not try it, there is a recipe for lirc in meta-openembedded.
So building that and adding it to the image should work.
P.S. We did not test IRDA support in the imx UART driver. If you intend to use one of the i.MX 6 UART’s in IrDA mode you will need to find the needed configurations and we don’t know about an i.MX 6 GPIO bitbanging driver which would support LIRC.
Max