I tried to use ipcf_shem_us, but it also failed, and kernel panic occurred. Also used is a branch of bsp32, which is version-dependent or other dependent. I refer to readme build.
root@s32g399ardb3:/lib/modules/5.10.90-rt60/extra# ./ipc-shm-sample.elf
[ 819.361925] ipc-shm-uio 40198000.mscm: GIC Rx IRQ = 26
[ 819.362209] ipc-shm-uio 40198000.mscm: device ready
[ 819.363185] SError Interrupt on CPU3, code 0xbf000002 -- SError
[ 819.363195] CPU: 3 PID: 406 Comm: ipc-shm-sample. Tainted: G O 5.10.90-rt60 #7
[ 819.363201] Hardware name: Freescale S32G399A (DT)
[ 819.363205] pstate: 60000000 (nZCv daif -PAN -UAO -TCO BTYPE=--)
[ 819.363211] pc : 00000000004028ec
[ 819.363213] lr : 0000000000402850
[ 819.363216] sp : 0000007fd6e89e60
[ 819.363218] x29: 0000007fd6e89e60 x28: 0000000000000000
[ 819.363229] x27: 0000000000000000 x26: 0000000000000000
[ 819.363235] x25: 0000000000000000 x24: 0000000000000000
[ 819.363241] x23: 0000000000000000 x22: 0000000000000000
[ 819.363250] x21: 00000000004011d0 x20: 0000000000000000
[ 819.363256] x19: 00000000004046f8 x18: 0000000000000080
[ 819.363262] x17: 0000007fba31a2c0 x16: 0000007fba3faf18
[ 819.363268] x15: 0000000000000000 x14: 0000000000000120
[ 819.363275] x13: 0000007fba3b7108 x12: 0000007fba048150
[ 819.363281] x11: 00000000003d0f00 x10: 0000007fba3d7e80
[ 819.363287] x9 : 000000003c0da470 x8 : 0000000000000087
[ 819.363293] x7 : 0000000000000000 x6 : 0000007fba048220
[ 819.363299] x5 : 0000007fba0488e0 x4 : 00000000004161c8
[ 819.363305] x3 : 0000007fba049008 x2 : 0000000000000000
[ 819.363311] x1 : 0000000000000000 x0 : 0000000000000048
[ 819.363319] Kernel panic - not syncing:
[ 819.363321] Asynchronous SError Interrupt
[ 820.363445] SMP: stopping secondary CPUs
[ 820.499222] Kernel Offset: disabled
[ 820.502688] CPU features: 0x0040022,2000200c
[ 820.506940] Memory Limit: none
[ 820.509984] ---[ end Kernel panic - not syncing: Asynchronous SError Interrupt ]---