I have a bunch of experience on this but won't go into much detail because it may be a touchy topic: most companies that do $THING and use SBCs like the RPi are extremely talented at $THING, and not at embedded development. That's why, most of the time, they go into this ecosystem.
And I mean, it works! But it's an unsafe mess which generates a bunch of regulatory issues and it keeps me up at night :-)