If you look into it they (beagle probably? Rather than TI) actually employed a guy (rcn-ee) who spent a lot of time getting various beaglebone code including th

If you look into it they (beagle probably? Rather than TI) actually employed a guy (rcn-ee) who spent a lot of time getting various beaglebone code including the support for capes (basically dynamic hardware loading - something previously relatively not done in ARM - there are no busses like PCIE) - that took some 3 years because of the mess of support in Linux and getting it done in a "Linux"/upstream happy way. So it might be better than you think but in general this is still a problem in the entire space. But as best I can tell the beagle guys are way ahead of most on this. google rcn-ee for more info and forgive any inaccuracies in my recollection above.