Author of this article here. If you have any questions feel free to ask them!
FreeBSD >= 13.0 has an aarch64 RPI image that should boot OOTB for both RPi3/RPi4 -- the medium article referenced predates the introduction of this image, and it should generally make all the firmware steps obsolete. The dts replacement might still be necessary with it, I hadn't really looked at the differences between the one placed in review vs. upstream.