> My take on why a third mobile OS is hard is that phones don't have a standard BIOS type system that gets all basic I/O working on it. So having an OS that can install on existing phones is a bunch of work.
You can have AOSP-based OS (nowadays "smartphone OS" covers a whole bunch of stuff that isn't in AOSP so I don't consider that it's the same OS) that re-uses original Android OEM drivers. You can take pretty much any Android smartphone (assuming it doesn't prevent you from running your own software) and run an AOSP-based OS on it with literally 0 effort. That's called Project Treble, or GSI. You'll find dozens of ROMs (both Google Android, and Google-less) that will work on pretty much any modern (less than 4 yr old) Android smartphone.
Even better, it is possible to use those drivers meant for Android on GNU/Linux through Halium. There are even tech demos where you don't need original kernel source or anything, you just flash it, and it mostly works on any modern-ish Android smartphone that lets you flash your own software.
Really, the drivers and hardware support has no reason to be a blocker in the 2020s (I'm not saying it's totally free though) to make a new mobile OS, except that you're stuck to support a wide range of rather old vendor Linux kernels.
PS: The future is brighter, and in few years you'll probably be able to make a really brand new OS, that will run in a VM with drivers running in another VM alongside yours