The ubuntu on bbb team keeps up to date with the latest LTS kernels. There is 5.4 support and 5.10 support is in progress. The price wasn't so bad if you're in

The ubuntu on bbb team keeps up to date with the latest LTS kernels. There is 5.4 support and 5.10 support is in progress. The price wasn't so bad if you're in for the feature set (mainly the IO features). Using the embedded PRU controllers can replace the arduinos ones typically connects to their RPi. However, BBB is very old now. A single core cortex-A8 is abysmally slow. Getting the GPU working was always a pain. But I always used them headless so it wasn't an issue for me.