I understood that you are streaming the RAW video data. It can be done using the UVC class drivers instead of Vendor class drivers.
In the case of UVC class, the device can mimic the host as UVC class device and send the RAW format data.
Here, you need to customize the UVC host application to stream the RAW video data.
You may refer to this.
You may use open source UVC host application https://mpc-hc.org/ and do the necessary changes to display RAW video data.