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Collabora is actively working on upstreaming the Radaxa Rock 5B
The TRMs are at least available online
meta-rockchip, Linux kernel, and u-boot have upstreamed support for (most) interfaces - check upstream status here: https://gitlab.collabora.com/hardware-enablement/rockchip-3588/notes-for-rockchip-3588/-/blob/main/mainline-status.md
ARM itself has uploaded the firmware for the GPU to linux-firmware
There's work on the NPU going pretty well
I've seen some work on an open TEE, but I don't need that for my project, so I haven't looked much into it
Rockchip themselves are... Questionably open
For the software side, I've found them decent. I do have to run latest and greatest Linux kernel and u-boot on our projects
The hardware team wasn't so happy for your fab level, but we managed to get some designs working based off SoMs from Firefly