Thanks for that detail. I really been confused about how you could be getting touch messages back at all!
I haven’t got a 96Boards touchscreen, so the thing I would be doing to help people at this point is intelligently filtering a google search. Your work so far is pretty sophisticated so I’m sceptical that I would be any better at filtering a web search than you are.
However feel free to keep bouncing ideas around, especially so if you can share your driver code! This sounds like the problem is in userspace plumbing so knowing what sub-system the driver is plumbed through can be helpful (right now the best thing we can do is try to figure out how your system is different to an x86 PC with a touchscreen).