Are you talking about Mainline / Midstream / Linux 6.x kernel?
I did not get to compile a kernel from source successfully (and I did not have time to keep debugging and learning when I try them months ago), So I have only tested built image available:
Monka Midstream 6.2 Kernel (pancsf) :
https://monka.systemonachip.net/rock5b/pancsf-midstream/ (maybe try the newer one below instead)
Boot : worked on sd card and nvme (requires an sd card with armbian bootloader first boot, update armbian-firmware fixed it, do not let it auto update linux / linux-firmware, it breaks the system)
I thought it wasnt working but seems like they needs some more boot time and the hdmi and pd takes time to appear.
Monka 6.2 Kernel (debian and ubuntu available):
https://monka.systemonachip.net/rock5b/edge/
malicsf driver : https://monka.systemonachip.net/opi5/mesa_23.2.0-devel-1_arm64.deb
Boot : tested working on nvme, gpu also works, tested gnome with wayland,
(did not get the A8 / RTL8852BE Wifi card working, share if you find a solution)
Collabora 6.5 kernel :
https://refuge.armsurvivors.icu/lanefu/lanefu_23.08.0-trunk_Rock-5b_sid_collabora_6.5.0-rc1/
boot with hdmi : unknown