could this issue be related to insufficient pull-up resistor on SDA as observed by this post?
@Bin may i ask how you managed to reduce the clock speed?
edit:
to change clock speed to e.g. 10000: cd /usr/lib/linux-image-5.10.110-12-rockchip/rockchip sudo fdtput --type u rk3588s-rock-5a.dtb i2c8 clock-frequency 10000 sudo reboot