Oh please, while you lose the VC4 firmware, you instead get a proprietary PowerVR GPU with no free drivers. Not to mention that the Beaglebone has a much worse CPU than the "bolted on ARM" of the RPi.
If you're going to dump the rpi for this reason, going to something like the imx6 used in the Cubieboard and Novena would make a lot more sense (edit: Cubox, not Cubieboard).
The Cubieboard uses an Allwinner SoC, which has a bad reputation among oppen source people since Allwinner violated the GPL multiple times in the past (though I heard the Linux support is decent; mainly because of the work of the Sunxi community: https://linux-sunxi.org/Main_Page). Novena (and "Sabre Lite - i.MX6 Quad Core"; cf. https://news.ycombinator.com/item?id=12743798) indeed use a Freescale (now bought by NXP) SoC.
The silver lining though is that the sunxi community has been working to mainline newer chips like the Allwinner H3 & has been doing a bang up job with minimal info, newer kernels can boot up & get most hardware onboard configured & ready to use.