The default release images for VIM4/3/3L/1S with 5.15 kernel and Edge2 with 6.1 kernel are shipped with close source code of Mali GPU userspace drivers, this documentation will guide you to enable the open source GPU driver of Panfrost.

You need to enable the Panfrost via device tree overlay.

Add panfrost to node fdt_overlays=.

If you want to use the open source GPU driver you need to remove the close source GPU libraries.

sudo apt remove linux-gpu-mali-wayland
sudo apt reinstall  libegl1  libgles2   libegl1-mesa-dev  libgles2-mesa-dev  libglvnd-dev  libgles1  libwayland-dev  mesa-common-dev  libgl-dev  libegl-dev libgles-dev libgbm-dev  libgbm1  libwayland-egl1
sync
sudo reboot

After reboot and login you can goto Settings→System→System Details to check the Panfrost status.