I have been using an experimental driver with a Raspi camera for quite a while. It was written for the V2 camera and uses Raspiraw to generate a low-level raw image that I use for guiding. It works just like any standard camera with EKOS, with the exception of video support.
In the past week, the HQ camera support has been added to Raspiraw and I plan on updating the driver when I get a HQ camera and time to add and test it.
Another option on the horizon that I will eventually be looking into is the recently developed libcamera support for Raspi which or may not be a better option.