I don't think you'll be able to get away from custom distros even with RVA23. It solves the problem of binary compatibility - everything compiled for RVA23 should be pretty portable at the instruction level (won't help with the usual glibc nonsense of course).
But RVA23 doesn't help with the hardware layer - it's going to be exactly the same as ARM SBCs where there's no hardware discovery mechanism and everything has to be hard-coded in the Linux device tree. You still need a custom distro for Raspberry Pi for example.
I believe there has been some progress in getting RISC-V ACPI support, and there's at least the intent of making mconfigptr do something useful - for a while there was a "unified discovery" task group, but it seems like there just wasn't enough manpower behind it and it disbanded.
https://github.com/riscvarchive/configuration-structure/blob...