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.