I'm currently investigating switching the server images to load the kms
overlay by default (they don't currently). This does appear to fix the
issue, in that the vc4-hdmi ports show up in /proc/asound/cards once the
overlay is loaded. Unfortunately, it also appears to break boot on the
512MB 3A+ with an out of memory kernel oops. Bizarrely, the Zero 2W
(which also has 512MB of RAM) continues to boot just fine with the
change, so I'm not entirely sure why the 3A+ is breaking...

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https://bugs.launchpad.net/bugs/2038924

Title:
  No alsa sound cards on Pi 5

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