Is there an "open" SBC by your definition?
Intel has ME/AMT, and requires an opaque, PK-signed-and-only-intel-and-NSA-have-the-key blob. AMD is the same with PSP.
I'm not up to date, there might be a RISC-V core available today that is blob free, but in 2012 when RasPi was introduced I wasn't aware of anything blobless.