Here's what helped me with getting UARTs working. I haven't tried PWMs, but hope it should work for you as well.
sudo mkdir /boot/overlay-user/
sudo cp /boot/dtb-5.10.110-rockchip-rk3588/rockchip/overlay/rk3588-*.dtbo /boot/overlay-user/
And then add name(s) of the needed *.dtbo file(s) to the `/boot/armbianEnv.txt` and reboot.
...
user_overlays=rk3588-uart2-m0 rk3588-uart7-m2
...