for me uae4rpi works. At least if I leave emulationstation and start it from CLI.
I can confirm that I also cannot find any kind of menu, but by using the df0.adf process Roms load fine. (Keyboard also works)
What I basically do is using links… So something like “ln -s roms/barbarian.adf df0.adf”.

What I am wondering is why it is not integrated into emulationstation. Any specific reason? Anyone tried?