This answer gives the equation for $t(r)$ without the derivation.
I have found the derivation for particles free falling from infinite distance using the Schwarzchild metric and Lagrangian, but I don't know how to apply this to the scenario that a particle free falls from a fixed distance $R$ at rest or with an intial velocity.
Below is the results I have got so far.
For simplicity, take $c=G=r_s=1$.
For radial free-fall, we have $d\Omega=0$, so the metric is
$$ ds^2=-(1-\frac1r)dt^2+(1-\frac1r)^{-1}dr^2=-d\tau^2 $$
Let $\dot{x}$ represent $\frac{dx}{d\tau}$, the Lagrangian is $$ L=\dot{s}^2=-(1-\frac1r)\dot{t}^2+(1-\frac1r)^{-1}\dot{r}^2=-1 $$ As $\frac{d}{d\tau}(\frac{\partial L}{\partial \dot{t}})=\frac{\partial L}{\partial t}$, we have conservation of energy $(1-\frac1r)\dot{t}=E$.
In resources I found online, $E$ is set as $1$ for the ease of derivation. Then we have
$$ \dot{r}^2=\frac1r~\Rightarrow~\tau=\frac23(r_0^{3/2}-r^{3/2}) $$
$$ \Rightarrow~d\tau=-r^{1/2}dr $$ $$ \Rightarrow~dt=(1-\frac1r)^{-1}d\tau=-r^{1/2}(1-\frac1r)^{-1}dr $$
Integrate both sides to obtain $t=F(r_0)-F(r)$, where $$ F(r)=\frac23r^{3/2}+2r^{1/2}+ln\frac{r^{1/2}-1}{r^{1/2}+1}. $$
The solution has nothing to do with the initial position $R$. I guess $E=1$ implies the particle is at rest at inifinity? What should I set $E$ to be if the particle is at rest at distance $R$?