No eQEP on Debian 11.7 Kernal 5.10

Correct, 5.10.x uses the new ‘counter’ driver that went mainline for eqep positions… If you want the old interface, feel free to downgrade to 4.19.x-ti:

sudo apt-get update
sudo apt-get install bbb.io-kernel-4.19-ti-am335x

Regards,