I found a solution: downgrade the kernel to version 5.10.218 on SD-card_images by Johang Gunarsson in sweden. I used his Bookworm image. It does require a bit of work: Rsync is often broken on his images for pcduino (it looks for a libcryto.1 module but that module is obsolete), so you may need to downoad and compile rsync if you need it. The wifi is also unstable with the main line driver. I fixed the issue by installing morrownr's driver, but it takes ages to compile on the old lady (about 45 mins).
I took the kernel and headers from this archive: https://archive.debian.org/debian/pool/main/l/linux/
Apparently, the big change between kernel 5 and 6 wrt OTG is usb-role-switch. Pcduino can support this new requirement, but someone with the right knowledge needs to take the time to update the device tree, and since the board is old, this may take time, or at this stage, may never happen.
