Reply to my own post, so that others in the same shoes know what to do:
- I’m using Image-69, whose README says corresponding kernel tag is VF2_2.5.0
- Check out kernel with this tag, GitHub - starfive-tech/linux
- Follow Part 1 of this instruction to re-build kernel debian packages
- Make sure add BINFMT_MISC option in “make menuconfig” step
- Also make sure using the same local version, “LOCALVERSION=-starfive”
- Then copy over ./debian/linux-image/boot/vmlinuz-5.15.0-starfive to /boot/boot directory on visionfive 2 board.
Reboot! That is it!