調べたところ,Raspberry Pi 5 + Nerves で Vulkan を動かすことが可能っぽいです.
Raspberry Pi 5 搭載の GPU で Vulkan が動く
VideoCore VII GPU, supporting OpenGL ES 3.1, Vulkan 1.2
NervesでGPUがMesa3Dの下で動く
Nerves Project の Frank Hunleth さんに直に質問
ZACKY:
Can Nerves drive GPU on RasPi 5? The following page does not seem to include description of the GPU.
https://hexdocs.pm/nerves_system_rpi5/readme.html
Frank Hunlethさん:
Yes, the Linux drivers are enabled at https://github.com/nerves-project/nerves_system_rpi5/blob/main/linux-6.6.defconfig#L373-L374.
Everything I know that uses the GPU these days, uses it via Mesa3D. https://github.com/nerves-project/nerves_system_rpi5/blob/main/nerves_defconfig#L46-L48.
If you're asking about ML rather than graphics, then I'm not sure if it has the optimal configuration.
Mesa3Dの下で Vulkan Runtime が動く
アーキテクチャ構成図
まとめ
以上をまとめると,Raspberry Pi 5 上の Nerves で Vulkan を動かせるっぽいです.