I briefly tried to compile it with the stock image. The main thing is it needs *linux kernel headers* in the image to compile the panfrost gpu drivers, which I cannot get with the legacy debian bullseye via `apt install`.
After then, I have gained some more familiarity with the Armbian build system, and found out that we can get the linux kernel header via rebuilding the image from the git repository. This can be done by compiling it with the file argument `INSTALL_HEADERS="yes"`. So, it will be something like this `./compile.sh INSTALL_HEADERS="yes"`. I have successfully compiled an image with the headers, but not yet compiled the Panfrost gpu driver.
Let me know how things go with the *gpu driver compilation* because I also have interest in the subject, and also please correct me if I said something not right.