> Frequently SoC manufacturer make quick and dirty changes to a fork of the Linux kernel.
SoC makers deliberately do this as a way to force phone manufacturers to buy new chips.
For example, if they release a chipset in 2020, it will ship with Kernel 4.14 (released in 2017). Why ship such an old kernel on brand new hardware you say?
Well Android 11 (also shipped in 2020) supports Kernel 4.14, but you can be pretty sure that Android 12 won't support 4.14. So that means that OEM's can't make android 12 work with that chip without a massive engineering effort (and by the way, a bunch of chipset blobs will be compiled against those kernel headers, so changing kernel versions is pretty much impossible).
So, the main reason to use a deliberately outdated kernel is to prevent last years chips running next years android release, without the chipset manufacturers permission and a share of the profits.