Plot geopandas dataframe on top of raster using matplotlib/gdal(numpy)/geopandas

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I want to plot my geopandas objects on top of a raster. Other people have asked this question here before and all answers seems to be:

convert numpy array(raster) into Rasterio object.

Is there a solution to plot this without Rasterio? Seems crazy that I need to convert my gdal object into Rasterio just to plot it?

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