The Manjaro 23.02 minimal image has the wrong root partition UUID in both extlinux.conf and fstab which prevents it from booting. The following procedure installs the image (which I had already downloaded), fixes the error and enables wifi. (The SD card shows up on my Linux box as /dev/sdb and I did all this as root; please don’t just follow these instructions blindly or you could trash your machine.)
zcat Manjaro-ARM-minimal-radxa-zero-23.02.img.xz | dd of=/dev/sdb bs=4M conv=fsync status=progress
mkdir /tmp/mnt
mount /dev/sdb1 /tmp/mnt
sed -i 's/c7787c7b/c778d49e/' /tmp/mnt/extlinux/extlinux.conf
umount /tmp/mnt
mount /dev/sdb2 /tmp/mnt
sed -i 's/c7787c7b/c778d49e/' /tmp/mnt/etc/fstab
That fixes the booting issue - if you are doing this manually, just replace c7787c7b with c778d49e in both files. Now (with /dev/sdb2 still mounted under /tmp/mnt) I set up my wifi connection:
cd /tmp/mnt
mkdir etc/iwd
cat > etc/iwd/main.conf << EOF
[Settings]
AutoConnect=true
[General]
EnableNetworkConfiguration=true
EOF
mkdir var/lib/iwd
cat > var/lib/iwd/YOUR_WIFI_NAME.psk << 'EOF'
[Security]
Passphrase=YOUR_WIFI_PASSWORD
EOF
Finally I download the Linux firmware and fix it for the 1GB model with an AP6212:
wget --no-check-certificate -O - http://mirror.archlinuxarm.org/armv7h/core/linux-firmware-20230210.bf4115c-1-any.pkg.tar.xz | xzdec | tar xf -
cd usr/lib/firmware/brcm
ln -s brcmfmac43430-sdio.AP6212.txt brcmfmac43430-sdio.txt
cd
umount /tmp/mnt