We have i.MX53 based custom HW and so far we have been using 2.6 - series kernel since that was the last officially supported one.
I noticed that that Yocto 2.2 have support for i.MX53 and kernel 4.9 has the Etnaviv opensource graphics driver too.
So, I compiled our image for imx53qsb, that has 1024x768 lvds - display because it was the quickest way to get image up and running. I got system up and running and graphics are working. Only thing is that Wayland/Weston is sloooow. I don't think there is any acceleration going on. If I even try to move mouse the weston cpu-usage goes to 60-95% and cursor barely moves.
The HW is capable to handle the display because we have similar size(in resolution) display in our product and it works way faster with older kernel/drivers.
Have anyone have better luck with i.MX53 and Etnaviv?