Not just Chinese companies, Ti has done this forever with their Sitara SoCs. This is the chip in the beaglebone. The chip includes two PRUs which are microcontrollers that run at 200mhz and share memory with the rest of the system.

TIs latest version of it (AM625x) has four A53 cores, one PRU, and a Cortex M4F. It is similar in performance to the Qualcomm chip in my own benchmarks