Tegra open source support is great and actually supported by NVIDIA. Probably the best ARM GPU option for open source drivers.
Mali support is done by outside groups (not ARM). Midgard and Bifrost models are well supported (anything that starts with a T or G, respectively). Support for older models is a little worse, but better than some other GPUs.
Adreno support is done by outside groups (not Qualcomm) and is lagging behind new GPUs that come out considerably.
PowerVR GPUs (Imagination) have terrible open source support.