I use this version https://github.com/nyanmisaka/ffmpeg-rockchip
of ffmpeg with Orange Pi5+ (rockchip-rk3588) Linux Debian.
For my test, the input.mp4 file is a 60 second recording from rtsp Reolink h264 Camera.
% ffmpeg -i input.mp4 -c:v h264_rkmpp -c:a aac -y output-h264.mp4
Input: Stream #0:0[0x1](und): Video: h264 (High) (avc1 / 0x31637661), yuv420p(progressive), 2560x1920, 8348 kb/s, 29.72 fps, 30 tbr, 90k tbn (default)
Output: Stream #0:0(und): Video: h264 (High) (avc1 / 0x31637661), yuv420p(progressive), 2560x1920, q=2-31, 2000 kb/s, 30 fps, 15360 tbn (default)
frame= 1804 fps=131 q=-0.0 Lsize= 15327kB time=00:01:00.10 bitrate=2089.1kbits/s dup=20 drop=1 speed=4.38x
% ffmpeg -i input.mp4 -c:v hevc_rkmpp -c:a aac -y output-hevc.mp4
Input: Stream #0:0[0x1](und): Video: h264 (High) (avc1 / 0x31637661), yuv420p(progressive), 2560x1920, 8348 kb/s, 29.72 fps, 30 tbr, 90k tbn (default)
Output: Stream #0:0(und): Video: hevc (Main) (hev1 / 0x31766568), yuv420p(progressive), 2560x1920, q=2-31, 2000 kb/s, 30 fps, 15360 tbn (default)
frame= 1804 fps=128 q=-0.0 Lsize= 15299kB time=00:01:00.10 bitrate=2085.3kbits/s dup=20 drop=1 speed=4.26x
% du -b input.mp4 output-h264.mp4 output-hevc.mp4
63077390 input.mp4
15913277 output-h264.mp4
15978009 output-hevc.mp4
The rate of hardware encoding is around 130 fps with h264_rkmpp or hevc_rkmpp.
From a human perspective, there's no video quality difference between these files.