Meanwhile, I have enabled ADB and debugging over wifi, and have connected to cli:
127|rk3528_box:/ $ uname -a
Linux localhost 5.10.157-ab10 #319 SMP PREEMPT Sat Nov 11 21:49:28 CST 2023 aarch64 Toybox
I think it is possible to copy firmware image from ADB session. If someone did/have instructions please point here.