This one is not really a fault of GrapheneOS, and more a reality that Android is not actually an open platform and never will be. I require a lot more control of a device I need to be able to trust than anything in the android ecosystem can offer anymore.
Replicant was the right approach but sadly never got the resources to pursue it at the required scale to support new devices.
The signatures enable the update client to verify the releases and the firmware to verify the OS with the public key flashed by the user as part of installing the OS. Signed updates and verified boot fully work with any build of GrapheneOS following our build instructions. Auditor and AttestationServer also work once they're rebuilt with the new verified boot hash included.