Is there anyway to make U-Boot on the Edge-V display output on the screen, so that I can interact with its commamd prompt without using serial?
No, serial is the only way.
Use mainline uboot that should have hdmi out on. Uboot.
Will it work with the board?
Rk3399 soc have hdmi support in uboot since few years now.
So edge-v should have it too.
If “mainline” appears in the URL for these images, then are these mainline U-Boot images?
Is one of those a “mainline” U-Boot build for the Edge-V that supports graphical output?
Give it a try and test it.