> All the other manufacturers have really really shitty BSPs in comparison, even if you're just offloading everything realtime to an MCU.
The irony here is that other SOC/SBC makers are focused more on throwing a barely stable design onto AliExpress for $20 than investing in good upstream support that would allow them to charge a premium.
Raspberry Pi wasn't always able to charge a premium, that benefit came from years of investment into software and community. I have not yet seen another SOC vendor or board partner realize this in any significant way.