How are the open GPU drivers going?

Did you try to size the window of glxgears. On my VF2, I got correct framerate with Gnome on Xorg only, on wayland (Gnome) the framerate is pure cheese over time. it seems that X11 is still software emulated on VF2 wayland.

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I think the JH7110 GPU should support desktop graphics applications as soon as possible, such as coolpi (RK3588S), whose GPU can run opengl and vulkan programs, while IMG GPU vulkan is not yet adapted

i agree with you

Only works :
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT16, w,h);
Wanted :
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, w, h);

Maybe you are trying desktop OpenGL instead of GLES.

GL4ES exactly.

Might be a linking issue maybe where you are using gles headers or something

Anyways GL_DEPTH24_STENCIL8 needs to be GL_DEPTH24_STENCIL8_OES on GL ES 2.0.