Can someone who has worked on the code clarify if Valgrind is in fact expected 
to work on an ARMv5?

The official position is v7 only.  There is no v8 or higher yet, except aarch64
which is supported separately because it is totally a different architecture.

It is technically possible to support v5/v6, and it is not really difficult
for single-threaded processes.  I myself submitted a set of patches that worked.
But less-than-v7 hardware (especially v5) lacks reasonable support for 
multi-threading
and mutual exclusion.  It can be done, but it is so cumbersome that it is not 
worthwhile.
If your project is unwilling to spend another $1 for a v7 chip then you are too 
cheap.
Get a RaspberryPi 3B, a pine64, or other similar board to use for 
next-to-last-stage integration.
Interface your hardware peripherals directly or via USB, or over ethernet to a 
real device.
Algorithm work, plus most integration, should be done in a non-embedded 
environment
using emulators [you _do_ have and maintain good software models for the 
devices, right?]

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