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More progress… ran rpi-update to update the firmware. This was successful, and dmesg reported
ttyS0 at MMIO 0x3f215040 (irq=86, base_baud=50000000) is a 16550
This is same base_baud that was reported by Raspian 11 when it wasn’t working. The update also updated the kernel to 5.15.33. Since cat /dev/serial0 was working, I went ahead and installed gpsd and gpsd-clients; as expected those worked too.
I went back to Raspian 11 with 5.15.32 (lower minor number?)
ttyS0 at MMIO 0x3f215040 (irq=71, base_baud=50000000) is a 16550
AND IT WORKED! Sorry for yelling, but this is exciting!
Tempting fate, I ran rpi-update again, and ended up with the 5.15.34 kernel…
The GPS is still working!
If I had to guess, it was the firmware update that was needed to correspond to the 5.x series kernel.