Excuse me, but I have the same problem with n64.
Platform : rpi3., 6.1.1 dragon blaze.
Issue the same as in x86_64 platforms.
As I try to launch any game it goes back to ES.
Sometimes it gets black screen and nothing happens anymore.
I read a couple instructions, tried to change video modes, tried to change a couple of configs in recalbox.conf and mupen65plus. Nothing helped.
Controller : DS3 original. Any other platforms works fine. I'd like to mention the fact that the problem only when you use mupen64plus as a main emulator. Libretro plus mupen64 core works,but slow. It'd be nice if someone find a solution.