> i.MX8 is not realtime and the support for running bare metal code is very much non existent.

Looking at e.g. STM32H755: 1x Cortex-M7 480 MHz, 1x Cortex-M4 240 MHz, USB2, 100 Mbit Ethernet, DAC.

Comparing to AM6421: 1x Cortex-A53 1GHz, 2x Cortex-R5F 800MHz, 1x Cortex-M4F 400MHz, 2x PRU, USB3, 1 Gbit Ethernet, PCIe Gen2.

I can hardly believe STM32H755 microcontroller is almost so costly as AM6421 SoC.