I think the situation is:

Old situation: "Android drivers" are technically Linux drivers in that they are drivers which are built for a specific, usually ancient, version of Linux with no effort to upstream, minimal effort to rebase against newer kernels, and such poor quality that there's a reason they're not upstreamed.

New situation: "Android drivers" are largely moved to userspace, which does have the benefit of allowing Google to give them a stable ABI so they might work against newer kernels with little to no porting effort. But now they're not really Linux drivers.

In neither case does it really help as much as you'd hope.

Old Android also had a bunch of weird kernel drivers that were not upstream; they mostly are now so Android kernel is converging on Linux finally.