The version of i2pd in the package repos is 2.24, several years out of date. I got it running but it couldn’t talk to anyone else because it didn’t support the necessary key types. I was able to use the builds from here instead Index of /releases/21.02.0/packages/arm_cortex-a9_vfpv3-d16/packages/ by downloading the i2pd package file and manually extracting the binary with tar.
It also uses newer versions of libboost, so I had to grab those package files as well. opkg wouldn’t install them because it didn’t think the required dependencies were present, but the manually extracted files work fine once the libboost shared libs are copied to /usr/lib.
I also have tor running, the default package seems to work as-is.