If anybody in Qualcomm leadership is reading this thread: this is a good start, and I applaud you for it. There is also a lot more to do if you're serious about growing your market penetration beyond phones. The drivers might be up on LKML, but they're not mainlined yet. And this is just gen5. It would be great if you could fix your gen4 and 4.5 drivers, so that people building products with your chips weren't stuck…
Nowadays the entire thing until you land in EL1 needs to be signed by Qualcomm as well. This is without "Secure Boot" enabled. OEMs only get to run code under the hypervisor. And you might want to use a part of the hardware but someone decided the VM your code runs in shouldn't have access to that, too bad.