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It would be better to have some protection of course, the same as with a Raspberry. The pin header can be used via the driver made by Guglielmi:
forum.linuxcnc.org/18-computer/48079-can...cnc?start=200#273554

For Rockpro64 (rk3399?), I built an image before for a Orange Pi 4, but that didn't seem to work well, spikes to 130us, could work with Mesa though. You can try to build one via Armbian, from 6.12 and up you don't really need to patch it, just the right configuration. Then experiment to isolate cpu1 and move the rt tasks to that core as explained in the following post:
forum.linuxcnc.org/18-computer/48079-can...cnc?start=280#286432

You commits caused somewhat of an issue. Do you think I sat on my hands and did SFA ?

I don't care about your workflow, it's not my issue. My issue was ensuring the integrity of the images.
I don't care about you trying to setup a remote desktop, that was something you decided to do. That software was outside the scope of the software needed to run a cnc machine. I don't know why people ignore using ssh.

I just tested this at the beginning of rt_peripheral_init and it compiles and works on my RPi5 and RPi400 if you include the attached dtcboards.h:

int rt_peripheral_init(void)
{
    FILE *fp;
    int i, j;
    char buf[256];
    ssize_t buflen;
    char *cptr;
    const int DTC_MAX = 8;
    const char *dtcs[DTC_MAX + 1];
    
    // assume were only running on >RPi3
    
    if ((fp = fopen("/proc/device-tree/compatible" , "rb"))){

        // Read the 'compatible' string-list from the device-tree
        buflen = fread(buf, 1, sizeof(buf), fp);
        if(buflen < 0) {
            rtapi_print_msg(RTAPI_MSG_ERR,"Failed to read platform identity.\n");
            return -1;
        }

        // Decompose the device-tree buffer into a string-list with the pointers to
        // each string in dtcs. Don't go beyond the buffer's size.
        memset(dtcs, 0, sizeof(dtcs));
        for(i = 0, cptr = buf; i < DTC_MAX && cptr; i++) {
            dtcs = cptr;
            j = strlen(cptr);
            if((cptr - buf) + j + 1 < buflen)
                cptr += j + 1;
            else
                cptr = NULL;
        }

        for(i = 0; dtcs != NULL; i++) {
            if(        !strcmp(dtcs, DTC_RPI_MODEL_4B)
                ||    !strcmp(dtcs, DTC_RPI_MODEL_4CM)
                ||    !strcmp(dtcs, DTC_RPI_MODEL_400)
                ||    !strcmp(dtcs, DTC_RPI_MODEL_3BP)
                ||    !strcmp(dtcs, DTC_RPI_MODEL_3AP)
                ||    !strcmp(dtcs, DTC_RPI_MODEL_3B)) {
                rtapi_print_msg(RTAPI_MSG_ERR, "Raspberry Pi 3 or 4, using BCM2835 driver\n");
                bcm = true;
                break;    // Found our supported board
            }else if(!strcmp(dtcs, DTC_RPI_MODEL_5B) || !strcmp(dtcs, DTC_RPI_MODEL_5CM)) {
                rtapi_print_msg(RTAPI_MSG_ERR, "Raspberry Pi 5, using rp1 driver\n");
                rp1 = true;
                break;    // Found our supported board
            }else{
                rtapi_print_msg(RTAPI_MSG_ERR, "Error, RPi not detected\n");
                return -1;
            }
        }
        fclose(fp);
    }else{
        rtapi_print_msg(RTAPI_MSG_ERR,"Cannot open '/proc/device-tree/compatible' for read.\n");
    }    
    
    if (bcm == true){
...