The power system doesn't suck like the RPi series. The chips are all well-documented with the possible exception of graphics. It has eMMC so you don't have the microSD idiocies if you don't want them.
And if you need genuine real time, it has two RISC cores (4 on the AI) that operate in actual real time as opposed to Linux kinda/sorta/when-it-works/maybe real time.
"But the RPi is cheeeeeeaaaper!" <grumble>
Bullshit. The beaglebone can be permanently damaged (not just filesystem corruption!) BY BEING UNPLUGGED: https://elinux.org/Beagleboard:BeagleBoneBlack#Improper_Powe...
Never had crap like that happen to a raspberry pi.
Uh, yeah. A failure mode so rare that they can't isolate it.
RPi--the system that overdraws every USB interface on the planet and requires special power supplies. RPi--the system that couldn't even get USB-C right. RPi--the system that shuts down when you fire off a flashbulb (not their fault--but still a power failure). RPi--the compact system that needs a heatsink or it shuts down.
RPi has lots of things going for it. The power system is NOT one of them.
(If you want to pick on Beaglebone power systems, pick on the PocketBeagle. It has some truly stupid failure modes.)
My main frustration with them is that there's a ton of outdated documentation around how some of the software stack works. It's changed quite a bit over the last 5 years and you can easily go down pointless rabbit holes.
The Beaglebone series really does lots of I/Os well.