I got a pre-compiled version of freeintv_libretro.so off of source forge from 2019 that will run, but it seems a little broken. One of the games I have tested is missing the stairs. You can climb them, but they're invisible... probably because the color pallet is way off.
The kick in the butt is that I had this working for a minute with (what I thought) was a more recent version of the emulator, but my sd card died before I got a backup of it.
I've started working with jzintv which seems to run well, but all the input and resolution settings need to be done by hand. At least the RetroPie docs are good :-)