It's sad that TI never pressed their advantage with their chip, never offered anything to serve as an upgrade; so much that now the BB form factor remains but the TI chips are gone...
BeagleV-Ahead is interesting, but I think most people who are doing hobby embedded projects would prefer to use the TI-based BeaglePlay.
BeaglePlay is supporting single-pair Ethernet for example (I forget which version though... I think the "not-CANbus replacement" one but I dunno for sure). As well as LoRA. And at $99 its cheaper too. And they've also got BeagleConnect-Freedom boards to easily integrate that LoRA radio.
It's expensive to play with right now. But the specs are cool. 1km lengths is nuts, and a PoE-like feature on a singular twisted pair minimizes the wiring requirements on industrial scale plants.
Hobbyists probably should stick to PoE honestly. But playing with new protocols is still fun.
The PRUs are still there for now, but not very well supported. (You do get multiple Cortex R's.) Once the RP1 is fully documented and exploited the PI5 will probably become even more popular for hobbiest IO, but that's in a different market really.
The Jacinto7 line is still pretty popular in some circles and there are some boards around the series. It's a bit of a confusing line though since the same dies are offered in multiple product lines targeted for different markets.
Beaglebone AI64 (TI TDA4VM, 2xA72, 4GB, NVMe, $185) : https://www.beagleboard.org/boards/beaglebone-ai-64
TI SK-AM69 (AM69 - same die as TDA4VH, $400, 8xA72, 32GB RAM, PCI-e, NVMe): https://www.ti.com/tool/SK-AM69
If the SK-AM69 supported transformer models (i.e. llama.cpp) in it's NPU it would probably be perpetually out of stock.