I should of probably included some other information.
A lot of the information I have to go off of is 2+ years old. So I'm not even sure what is the best way to go about it in 2023. But Kodi v19+ should just support all this out of box as far as I can tell. Here is what I think is installed which should help make this all work.
lsmod | grep vid
videobuf2_dma_contig 24576 3 rockchip_vdec,hantro_vpu,rockchip_iep
videobuf2_vmalloc 20480 1 hantro_vpu
videobuf2_dma_sg 24576 1 rockchip_rga
videobuf2_memops 20480 3 videobuf2_vmalloc,videobuf2_dma_contig,videobuf2_dma_sg
videobuf2_v4l2 32768 5 rockchip_vdec,hantro_vpu,rockchip_rga,rockchip_iep,v4l2_mem2mem
videobuf2_common 65536 10 rockchip_vdec,videobuf2_vmalloc,videobuf2_dma_contig,videobuf2_v4l2,hantro_vpu,rockchip_rga,videobuf2_dma_sg,rockchip_iep,v4l2_mem2mem,videobuf2_memops
videodev 262144 7 rockchip_vdec,videobuf2_v4l2,hantro_vpu,rockchip_rga,videobuf2_common,rockchip_iep,v4l2_mem2mem
mc 61440 6 rockchip_vdec,videodev,videobuf2_v4l2,hantro_vpu,videobuf2_common,v4l2_mem2mem
dpkg -l | grep libva
ii libva-drm2:arm64 2.14.0-1 arm64 Video Acceleration (VA) API for Linux -- DRM runtime
ii libva-wayland2:arm64 2.14.0-1 arm64 Video Acceleration (VA) API for Linux -- Wayland runtime
ii libva-x11-2:arm64 2.14.0-1 arm64 Video Acceleration (VA) API for Linux -- X11 runtime
ii libva2:arm64 2.14.0-1 arm64 Video Acceleration (VA) API for Linux -- runtime