Sorry, I noticed that I had used upstream dtb instead of KF BSP's one...
Thus, I confirmed again whether yocto can be booted or not.
As the result, I got kernel panic as same as you did.
I investigated the log, and noticed kernel is stopped at around rpc.
Below is a part of your log.
[ 1.574607] renesas-rpc ee200000.rpc0: using DMA read (dma0chan0)
[ 1.581125] Bad mode in Error handler detected on CPU1, code 0xbf000000 -- SError
I think it may be caused by a mismatch configuration for rpc between Android IPL and kernel .
Finally, I confirmed to boot yocto after I disabled rpc driver in kernel.
Here is patch of modification.
I hope that you can boot yocto as same as I do.
note) If you are not going to use rpc, please ignore after this.
I found patch about RPC for IPL:
If this patch is applied to Android IPL, Yocto may be booted without any modification.
However, I don't have build environment for android so that I cannot confirmed it.