After hours of spitting through traces trying to resolve all errors and searching for differences between the emulator and the Zaurus my conclusion was that the main difference was the way the framebuffer was used. Android uses a panning mechanism (page flipping) for screen updates, and this is currently unsupported in the default pxa2xx framebuffer code of the linux 2.6.23 kernel.
So I tried to add panning support to the framebuffer code, and with success! It needs some debugging though, because there are still some minor problems with the screen updates, but hey, the saga continues, Android on the Zaurus still seems to be a perfect match!
A few quick shots taken with my camera:
Android booting The Android desktop The great map program (Still don't know how it located me) The web browser
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