And the SoC can do all the stuff my Rpi 2b does, and more (has a proper audio codec, for one, real gigabit ethernet, working suspend to ram, etc.), does suspend to ram, accelerated video decoding, and has much more open documentation... Rpi 2b's soc is pretty terrible usability wise comapred to A64.
Worth noting too that there is an open source driver for Arm's own Mali GPUs.
https://www.collabora.com/news-and-blog/blog/2021/06/11/open...
It's been pointed out elsewhere but briefly there is a VLIW processor (the "VPU") that is initially in charge of the entire boot sequence before handing off control to the main ARM cores; the bootcode.bin firmware for RPi devices is exactly this code. This includes things like bringing up PLLs and the on-board UART before handing off control to the ARM core where "userspace" code runs.
There are many free RISC-V implementations, and several free GPU drivers for various hardware families, but there is no combination of the two in any meaningful sense right now. If I had to guess I'd say ImgTec is probably one of the ones you could expect to pop up in an SoC somewhere, since I doubt ARM or Qualcomm are going to license their GPUs outside their families... ImgTec recently started contributing some code to Mesa but otherwise have historically been pretty hostile. So the immediate speculation doesn't look great at the moment but who knows what could happen.
Arm GPUs are also licensable by anybody, they were x86 phones with them back when those were still a thing.