Debian does package Raspberry Pi software [1] (firmware, kernel) and maintains images for each Pi [2] although it is an unofficial effort.

[1]: https://packages.debian.org/bookworm/raspi-firmware

[2]: https://raspi.debian.net/tested-images/

I've being running Debian on my Pi's since buster, and it's being without issues, the only downside would be the lack of support for devicetree overlays.