Ok, after looking at the bits of the exception syndrome (class=0x24, iss=100000000000000000000110) which means translation fault at 2nd level if I read things correctly, I decided to step through the HVF code with lldb and noticed that a retab failed. Not sure why pointer authentication failed here. Reading/writing other registers works fine.
Still, would be great if you have pointers to what is needed to get the HV GIC working. Thank you!
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Typo: register is called GICR_PIDR2.