Hello,
We are not currently working on a benchmark application through PSA interfaces, and I'm not aware of anyone trying to contribute one to Mbed TLS. I've seen benchmark code out there used to demonstrate hardware vs software performance, but I don't remember where, or if the source was available.
The crypto API and the legacy API call the same functions underneath, and the performance is dominated by the cryptographic operations and not the dispatch code, so in terms of performance, this wouldn't matter. However, having a benchmark application using PSA APIs would be useful to compare PSA drivers.
Best regards,