For anyone who needs Panfrost driver on Debian 11(Bullseye), here’s Mesa 21.3.8 compiled with Panfrost enabled. To get Panfrost working, you’ll need to install the mesa libraries along with a Linux kernel version 5.8 and above.
I also have Mesa 24 for Debian 12 compiled with Panfrost if anyone is interested. Newer mesa has updated Panfrost driver that is more stable(less graphical glitches on desktop) and I enabled the experimental Panvk Vulkan driver.
For more info on setting up GPU drivers(Panfrost/libmali) for the Mali G52 GPU on RK3566/RK3568, you may refer to my thread for the Rock 3A/3B that I will be updating as I experiment further.