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Nov 14, 2022 at 23:29 comment added Jan Bohr Taylor's PDE book (vol 1) is a good reference, see e.g. Proposition 1.6 in Chapter 4. That's the local result for $k=1$. You can apply it several times to get higher $k$ and use the standard chart/cutoff procedure to get the result for, say, compact submanifolds.
Nov 14, 2022 at 17:04 comment added Ryan Vaughn Thank you! Do you know of a good reference for the fact that the trace map is continuous for codimension $k$ submanifold?
Nov 14, 2022 at 16:43 history answered Jan Bohr CC BY-SA 4.0