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i) Create kmemleak.cfg file under meta-cmf-raspberrypi/recipes-kernel/linux/files with below kernel configs.

ii) Add kmemleak.cfg file  in meta-cmf-raspberrypi/recipes-kernel/linux/linux-raspberrypi_5.10.52.bb 

Please find below diff file.
Ex:

iii) Once build done with above changes, verify the  kernel configs are enabled in final kernel boot config file.
Path of kernel boot config file:  build-raspberrypi-rdk-mc/tmp/work/raspberrypi_rdk_mc-rdk-linux-gnueabi/linux-raspberrypi/1_5.10.52+gitAUTOINC+dbe03fa900_2697f74031-r0/image/boot/config-5.10.52-v7

Ex:

iv) Once flash the image with above changes , verify the kmemleak enabled in the device, it will create a kmemleak folder under /sys/modules/ and kmemleak file under /sys/kernel/debug/
Ex:

v) Once enabled kmemleak we will get kernel memory leaks in /sys/kernel/debug/kmemleak file if leaks are reported.

Testing kmemleak tool with kmemleak-test module in rpi3:

Note: kmemleak-test.ko by default in rpi3 this module not compiled , there is no kmemleak-test.ko module , so enable to build as a module and generated module file.
kmemleak-test.ko^{Image Added}

Step 1 : Copy kmemleak-test.ko module to this path /lib/modules/5.10.52-v7/  in box .
Step 2 : load the module to kernel space with insmod command.
Ex:

Step3 : verify module loaded or not
Ex: lsmod

Step4: Perform a scan
Ex: echo scan > /sys/kernel/debug/kmemleak

Step5: Collect memory leak data

Ex: cat /sys/kernel/debug/kmemleak