Embedded Linux – mechanism for deploying firmware updates?

I am considering developing on the Yocto project for an embedded Linux project (an industrial application) and I have a few questions for those with experience with embedded Linux in general -- Yocto experience a bonus. Just need to get an idea of what is being commonly done in firmware updates.
I have a few requirements, that being authentication, a secure communications protocol, some type of rollback if the update failed. Also, if there is a way to gradually release the patch across the fleet of devices then that would also be interesting as I want to avoid bricked devices in the field.
How do you deploy updates/patches to field devices today – and how long did it take to develop it? Are there any other considerations I am missing?

Yocto embedded distributions can upgrade just like any other Linux distro, and probably in a few ways more than that. Your question doesn't really apply to Yocto in particular.
Simplest is to use the package mechanism and have devices upgrade themselves. From there, you can take it further, e.g. using signed packages, dual-boot systems, etc.
You'll have to be way more specific if you want to get specific solutions to your specific problem.

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