It's well known that for Noetherian separated regular schemes the canonical map $$K(X) \longrightarrow G(X)$$ (Quillen uses $K'$ instead of $G$, though) is a weak equivalence.
This statement is usually called Poincaré duality.
One can also define $K$-theory with compact support (for sufficiently nice schemes $X$) by choosing a compactification $X \hookrightarrow \overline{X}$ and setting $K_c(X)$ as the homotopy kernel of $K (X) \rightarrow K (\overline{X}\setminus X)$. I have no idea on whether such $K_c$ and $K$ enjoy some kind of Poincaré duality.
When I hear something like Poincaré duality I expect some kind of cap product map with some fundamental virtual class $$H^{\bullet} \longrightarrow H_{d -\bullet}^{BM}$$ or, dually, $$H_c^{\bullet} \longrightarrow H_{d - \bullet}$$. Of course, there's a cap product $$K(X) \wedge G(X) \longrightarrow G(X)$$ induced by tensor product which when restricted to tensoring with $\mathscr{O}_X$ gives the Poincaré duality.
However, I'm not satisfied with such analogy. I, hence, ask the following.
1) Is there any sense in which $G$ is a $K$-theory with compact support? Or maybe it's even the opposite: $K$ is a $G$-theory with compact support?
2) If yes, is there any relation between $K_c (X)$ and $G(X)$?
3) If no, is there any kind of duality between $K (X)$ and $K_c (X)$?
4) If I'm actually sounding silly since in ordinary Poincaré duality both sides of the isomorphism are always simultaneously of the same kind (compact or not compact, for instance, $H_{\bullet}^{BM}$ is somehow non compact as $H^{\bullet}$), how can I see the duality as some isomorphism from a cohomology to a homology? In other words, why $K(X)$ should be a cohomology theory and $G(X)$ a homology theory?
5) If one uses some Atiyah-Hirzebruch spectral sequence for $G$-theory, would it be the case that the graded pieces of the $\gamma$ filtration define a motivic cohomology with compact support up to torsion?
6) What about 5 for $K_c$ instead of $G$? What about $G_c$?
7) After applying the Atiyah-Hirzebruch sequence to all the possibilities ($K$, $K_c$, $G$, $G_c$) what sort of Poincaré duality one acquires?
Thanks in advance.
EDIT
I've added new questions in order to correct my lack of attention to concordance of the "kind" (compact or noncompact) of the domain and codomain in the duality.
EDIT2
Given the comments below by Marc Hoyois and Gasterbiter, $K_c (X)$ should be defined as the homotopy colimit over $r$ of $K (\overline{X}, r (\overline{X}\setminus X))$, where the prefix $r$ denotes the infinitesimal thickening of order $r$ (following the notation of https://arxiv.org/abs/1211.1813).
Also, as noted below, $G$ should behave as a Borel-Moore homology. The analogy, therefore, is that
$$K(X) \longrightarrow G(X)$$ is the analogous of the first duality expressed above (cohomology-BM homology), whereas $$K_c(X) \longrightarrow G_c(X)$$ should correspond to the second duality (the compact version), where $G_c (X) := G (\overline{X}, \overline{X}\setminus X)$ (Btw, how do I state these dualities using the six functor formalism instead of using this "underline $c$"?).
Therefore, only the last questions remain. I will restate them here.
1) If one applies he Atiyah-Hirzebruch spectral sequence to $K$, $K_c$, $G$ and $G_c$, then what will be the graded pieces of the $\gamma$-filtration up to torsion (take $X$ as general as possible)? Or even better, in the level of spectra, what kind of decomposition one acquires?
For instance, in the case of smooth $X$, $K(X) \wedge \mathbb{S}_{\mathbb{Q}} \cong \bigvee_i H \mathbb{Q} \wedge (\mathbb{P}^1)^{\wedge i}$ (I have no idea what happens when $X$ is not smooth, though).
2) Does one recover some kind of Poincaré duality from the graded pieces mentioned in 1?