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I updated my spare hardware (which crashed too) to 23.1.6. A few simple tests indicate the bug might be gone. I haven't been able to test thoroughly  and haven't tried with my production system (which I don't dare to update yet and risk losing the "good old working kernel").
Has anyone else updated and can confirm?

Same issue here. Fresh install on pcengines apu2c4 and a brand new apu6b4 (which I only bought because I thought that old apu2 was faulty ::) ). I updated the bios of said apu6b4 to the latest release. Opnsense was updated to 23.1.5_4 (mandatory to update, else os-igmp-proxy cannot be installed).

Crash is perfectly reproducible with this command:

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curl https://3mdeb.com/open-source-firmware/pcengines/apu6/apu6_v4.17.0.3.rom > /dev/null

Upon crash I get loads of serial console output. I attached the beginning of it.

Using the old kernel (FreeBSD 13.1-RELEASE-p5 stable/23.1-n250372-c4ad069e50a) helps, thanks @develishh for the suggestion.

I'm unable to extract crash output, as the file does not exists. My system probably crashes before it can be written.

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tar -xf /var/crash/textdump.tar.last -O | grep Fatal -A 21
tar: Error opening archive: Failed to open '/var/crash/textdump.tar.last'