Infact, NASA wouldn’t use that sort of SOC for anything critical like the rover itself. Ingenuity was always a marginal experiment with a correspondingly high appetite for risk and ability to accept budgetary compromises.
Sure, it was a test platform, to prove that they can use a less RAD hardened design by using the more novel approach. I'd imagine future rovers will definitely use a similar approach.
I'm curious what do they use then? Seems like using an FPGA for sensor gathering and some guidance loops with microcontroller logic control is sensible. I've run into scenarios where just the sensior gathering/IO can take up a significant portion of the time slice of the microcontroller.