Thanks, using that image and this https://github.com/edk2-porting/edk2-rk35xx/releases/tag/v0.6 on the Rock 5B I managed to get it to boot with HDMI console. Currently stuck in a loop of
error resolving pool 0.freebsd.pool.ntp.org: Name does not resolve (8)
I guess I just need to disable ntpd for now since there is no ethernet.