Seems to depend on clock frequency, just like I see with Intel graphics.
If you spin the CPU at 100% like:

  while true; do true; done

then the clock frequencies increase and desktop frame rates become very
smooth. But that's also when the tearing starts.

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https://bugs.launchpad.net/bugs/1896167

Title:
  Heavy screen tearing in Wayland sessions on Raspberry Pi 4-B (using
  the FKMS driver)

Status in linux-raspi package in Ubuntu:
  Triaged
Status in mutter package in Ubuntu:
  Triaged

Bug description:
  Heavy screen tearing in Wayland sessions on Raspberry Pi 4-B when
  using the FMKS driver, meaning you have:

    dtoverlay=vc4-fkms-v3d

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