glimagesink does support Wayland, but you you need to explicitly set the windowing through an environment variable.
GST_GL_WINDOW=wayland gst-launch-1.0 v4l2src ! glimagesink
In general, I use gtkglsink, as GTK window will provide window decoration, and will figure-out the windowing automatically (same pipeline then works on X11 and Wayland).
gst-launch-1.0 v4l2src ! glsinkbin sink="gtkglsink"
Also note that zero copy is not enabled by default. You have to tell v4l2src to export DMABuf. Note that on X11, you have to force the platform to EGL rather then GLX (the default). Use GST_GL_PLATFORM=egl in order to gain zero-copy (DMABuf importation in GL is a EGL extension).
gst-launch-1.0 v4l2src io-mode=dmabuf ! glsinkbin sink="gtkglsink"
For waylandsink, I think you will have to wait for GStreamer 1.12, with DMABuf support. It also contains a lot of fixes around YUV formats handling. Obviously, you have to be running a Wayland compositor to use it, which does not seem to be the case in your test.
Final note, kmssink should have worked, but unfortunately fails to find a usable plane. I'll see if I can find out why, no timeline though.