Yes!
Actually, Mesa 24.1 should have brought G610 support. And it (Mesa 24.2) is available via Bookworm backports. So for compatible userland libraries, this would likely be additionally needed:
cat << '_EOF_' > /etc/apt/preferences.d/dietpi-mesa
Package: src:mesa
Pin: release a=bookworm-backports
Pin-Priority: 500
_EOF_
apt upgrade
But likely applications like Chromium and FFmpeg would then also need to be compiled against them.