The instructions here worked for me with the 202306 image:
There is a newer version (VF2_v3.1.5) of u-boot-spl.bin.normal.out and visionfive2_fw_payload.img available, but I’ve not tried it (yet). My board is using (VF2_v3.0.4), the version in the instructions above. Which is the same version that is in the first two partitions of the image file that you wrote to the SD card.