Assuming this works (I'm still just scouring the Aros source to become familiar) Aros can load existing P96 style .card files so the assumption is that it's possible to use existing P96 drivers in addition to Aros style drivers.
Whether the secret sauce in the Mediator drivers that allows card to card DMA will still function is anyone's guess.
Does anyone know if Mediator DMA works on Aros 68k? They don't use Elbox libraries if I'm not mistaken.
First things first, learning the aros codebase and getting some of it patched in.
The current P96 driver for Vampire (written by Jason M.) does exactly this, works on both Aros and P96
