There are OpenGL extensions which can import a provided GPU buffer as a texture, using those you can achieve zero-copy.
For instance, with VAAPI->OpenGL you would use vaExportSurfaceHandle in conjunction with glEGLImageTargetTexture2DOES.
Check out the "hwdec" mechanism in MPV:
https://github.com/mpv-player/mpv/blob/master/video/out/hwde...
https://github.com/mpv-player/mpv/blob/master/video/out/hwde...