Chipset manufacturers ship close source drivers which makes it impossible to update the kernel to a major version. Huge third party roms like Lineage OS do not update the kernel even if you install a newer Android version.
ASOP maintainer resigned over this issue
https://plus.google.com/+JeanBaptisteQueru/posts/9HHRURorE7g
Currently, there are a few efforts fix this issue such as
Collabera is spear heading the effort to run Android on Linux graphic pipeline
https://lwn.net/Articles/733463/
I.MX platform have upstream gpu drivers. I.MX6 is upstreamed and working
I.MX6 Development boards can boot Android
https://www.xda-developers.com/its-now-possible-to-boot-android-on-i-mx6-platforms-without-proprietary-blobs/
This I.MX6 5 in tablet should have full upstream support
https://necunos.com/shop/
In the future, Librem 5 will be the first fully open GNU phone.
https://puri.sm/products/librem-5/
I.MX8 gpu driver development is a work in progress
Anholt has been working on Videocore for Broadcom, but I find it a shame by the lack of adoption among handset manufacturers.
http://www.anholt.net/papers/index.html