This patch series for 5.6.y enables use of the xf86-video-armsoc-omap5 X11 driver [1] and the DRI3WSEGL plugin [2] for GC320-accelerated 2D display and 3D in X11 on the Pyra (with some appropriate TILER patches, in the Pyra repo).
The main outstanding issue is the lack of compatability between etnaviv and LPAE, due to swiotlb fragmentation from the long-lived mix of small and large buffers. It seems like this might have been fixed in 5.7, but still needs further investigation.
[1] https://github.com/julbouln/xf86-video-armsoc-omap5 [2] https://github.com/TexasInstruments/dri3wsegl