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Using the new in-kernel DRM:

The DRM kernel modules for 4.2.x are now in FreeBSD-current.

Adding the devices:

If you want to add the devices to your kernel, edit your config file and add the line for your card(s) as appropriate: 
device		tdfxdrm
device		radeondrm
device		"r128drm"
device		mgadrm
device		gammadrm
If you want linux compatibility, add: 
options 	COMPAT_LINUX
options 	DRM_LINUX

If you don't want to compile it in, you can load the modules. If you do the modules, you will not have linux compatibility. Also, if you have an AGP card (mga, r128, radeon), you need the agp device in your kernel, which is the default in 5.0.

When you start XFree86 it will automatically load the appropriate kernel module for you if it's not already loaded.

Now, configure your kernel and compile it. Install. Reboot. Enjoy.