An as yet unfinished vulkan driver has been released for RPi4, compiled as the mesa-vulkan-rpi4 extension.
If you have hardware graphics acceleration working on an RPi4, it is just a matter of loading mesa-vulkan-rpi4.
The vulkan equivalent of glxinfo/glxgears are found in the vulkan-tools extension as vulkaninfo/vkcube.
Various demos can be run as per the following:
$ tce-load -i compiletc cmake git mesa-dev libassimp-dev libvulkan-dev
$ git clone --recursive https://github.com/SaschaWillems/Vulkan.git sascha-willems
$ cd sascha-willems
$ mkdir build
$ cd build
$ cmake -LAH -DCMAKE_C_FLAGS_RELEASE="-march=armv6zk -mtune=arm1176jzf-s -mfpu=vfp -Os -pipe" -DCMAKE_CXX_FLAGS_RELEASE="-march=armv6zk -mtune=arm1176jzf-s -mfpu=vfp -Os -pipe" -DCMAKE_INSTALL_PREFIX=/usr/local -DCMAKE_BUILD_TYPE=Release -DCMAKE_VERBOSE_MAKEFILE=TRUE ../
$ make
$ cd bin
$ ./gears
$ cd ../..
$ python3 download_assets.py
$ cd build/bin
$./scenerendering
Whilst you could probably fry an egg on the RPi4, the results are reasonably impressive.
Apparently, there is also a vulkan game:
https://github.com/Yours3lf/vkQuake3/releases/tag/v1.0