So I updated the firmware using the following capsule:
http://snapshots.linaro.org/components/kernel/leg-96boards-developerbox-
edk2/latest/DeveloperBox.Cap

sudo apt install fwupdate
wget 
http://snapshots.linaro.org/components/kernel/leg-96boards-developerbox-edk2/latest/DeveloperBox.Cap
sudo fwupdate --apply {50b94ce5-8b63-4849-8af4-ea479356f0e3} DeveloperBox.Cap
sudo reboot

After the firmware was updated the box boots fine. So it's a Device Tree
config issue that's fixed with the latest firmware upgrade.  This is not
a kernel issue per se.

** Changed in: linux (Ubuntu)
       Status: In Progress => Fix Released

** Changed in: linux (Ubuntu)
       Status: Fix Released => Invalid

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https://bugs.launchpad.net/bugs/1904033

Title:
  5.10-rc1+ sdhci crash due to commit
  e0d072782c734d27f5af062c62266f2598f68542

Status in Linux:
  Confirmed
Status in linux package in Ubuntu:
  Invalid

Bug description:
  Booting 5.10-rc1+ on a Synquacer ARM64 development box crashes.
  Bisected this down to:

  commit e0d072782c734d27f5af062c62266f2598f68542 (HEAD, refs/bisect/bad)
  Author: Jim Quinlan <james.quin...@broadcom.com>
  Date:   Thu Sep 17 18:43:40 2020 +0200

      dma-mapping: introduce DMA range map, supplanting dma_pfn_offset

  
  Disabling the sdchi driver and/or removing this commit allows the kernel to 
boot without the crash.

  Attached is a photo of the crash.

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