PROJECT=RPi DEVICE=RPi ARCH=arm make image
^ that will get you an image, but it will run poorly because LE10 is not properly functional on non-RPi4 pi devices at this time, and even when we fix the main bug preventing an RPi2/3 release it will still run poorly on RPi0/1 devices because they don't have enough RAM for the new video pipeline; which is why we have no plans to release images for them anymore.