I use Cycles for baking and basically the procedure is like that: You define an image texture in the shader editor and select it. Then set the render engine to cycles and define the bake type for the texture to be baked in the Bake Settings.

I do this for the diffuse (albedo) map and for the roughness. The normal maps we can reused.

After that I create a new Blender project with the same model (plane) in which I add a new material with a principled shader.

To this shader I add the baked textures : Diffuse, roughness and normal map.

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