The current build doesn't produce the user guide on case sensitive shells due to a "case related" issue while looking for "TF-M.pdf". Also, the build system is not currenty able to include images while rendering, so modify the cmake file as well to add support for ".png" files.
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The fix for this issue is available here: https://review.trustedfirmware.org/c/trusted-firmware-m/+/1011