To answer my own question and to maybe help others. I was able to get the following going:
- Armbian Jammy - https://github.com/armbian/build/releases/tag/22.11.0-trunk.0087
- update/upgrade
- You need to download mali firmware from https://github.com/JeffyCN/rockchip_mirrors/raw/libmali/firmware/g610/mali_csffw.bin and copy it to /lib/firmware/
- sudo add-apt-repository ppa:liujianfeng1994/panfork-mesa
- update upgraxde
- sudo apt install ubuntu-desktop
This gets a Ubuntu desktop using the Mali-G610 (Panfrost) driver