So my problem was I was trying to write a new driver and add it to the kernel in yocto, this was not working.
When I changed my panel to be compatible to "raydium,rm67191" and added support for this driver into the kernel it started printing on boot.
Not sure why it never worked with my own compatible "com35h3n82" string despite having the driver included using:
RPROVIDES += "kernel-module-panel-com35h3n82"
MACHINE_EXTRA_RDEPENDS += "kernel-module-panel-com35h3n82"
and seeing the driver appear in /sys/bus/mipi-dsi/drivers. But I am no linux/yocto expert so who knows.
However now when I modify the panel-raydium-rm67191.c source file and build I can see my code being run.
So if anyone else is stuck trying to write a custom driver, just modify an existing one instead.