Probably you get (better) hardware acceleration with newer Mesa drivers. Try our NanoPi R5S Trixie image from here: Index of /downloads/images
Or enable backports: OrangePi5 video hardware acceleration - #4 by MichaIng
Mesa/Panfrost is generally supporting the G52 since a longer time, but not sure how well, or how much to expect from it. Did you run some test or chrome:gpu in Chromium or so to check, whether really no hardware acceleration is available/used?