See the section "Permissive Security Policy" at
https://support.apple.com/en-ca/guide/security/sec7d92dc49f/...If you're looking for specific hardware documentation it doesn't really exist per se but the xnu kernel is open source, so if you want to look a lot of the basic architecture is out there I'm pretty sure.
That said, afaik asahi is avoiding looking at the xnu source and is mostly using their own m1n1 bootloader/hypervisor to run macos under and monitor hardware interaction and deriving their drivers from that.
(m1n1 is honestly some incredible work and I actually used it to get a non-Linux, non-macos os to boot to serial console a few weeks ago, it was fun)