Ahh, the rock-5b page says this:
But I suppose it now means 6.10 is experimental. And I twice accidentally downloaded 6.10 instead of 6.1 because the names are so similar.
I installed the image for 6.1, kernel 6.1.75-vendor-rk35xx, but now armbian-config has even less options under System/Hardware. Previously all the PWMs where there, some SATA ports and a few I2C ports. Now there is just "opp-oc-24ghz" and "panthor-gpu".
I was able to add the overlays manually to armbianEnv.txt. So all my devices are now enabled. Thanks!