Finally I made Void Linux works on my Orange Pi Zero3.
The process was quite simple:
Build u-boot-sunxi-with-spl.bin by u-boot.
Build Linux Kernel and modules. We will have Image and dtb files.
Copy Image, dtb files to sdcard part1.
Make boot.scr file by mkimage.
Flash u-boot-sunxi-with-spl.bin to sdcard.
Create 2 partitions on the sdcard by cfdisk.
Mount 2 partitions to host computer.
Copy Image, dtb and boot.scr files to partition 1.
Copy Void Linux rootfs to partition 2.
Copy kernel modules to lib/ in partition 2.
Chroot to Void Linux in partition 2 then install.
Install Vim, chronyd on Void Linux.
Enable agetty-ttyS0, dhcpcd, sshd, chronyd services.
# ln -s /etc/sv/<service> /etc/runit/runsvdir/default/Umount the sdcard then boot the Orange Pi Zero3.
https://youtu.be/O234rvvgzL0?si=IrSgsaLbHyC7wy0k
