I'm building Fostrom (https://fostrom.io), an IoT Cloud Platform. We have Device SDKs to simplify integrating devices, powered by a small Device Agent written in Rust.

I wanted to support RISC-V boards too, so I went with the Milk-V Duo S as the test device. I have managed to get Tailscale working, and our Device SDK works too, with the bundled Python.

The experience of using the Milk-V Duo is definitely not as straightforward as the Pi Zero, but it does work, and is easily available in most places, unlike some of their other products. The Linux distro they provide is quite barebones, and I wasn't able to get Debian working. The docs for the device are pretty decent. I hope we get better support for Debian/Alpine/Arch for these kinds of boards soon.