Well, Raspberry Pi, with the Compute Module 4 has done this on the low-end and an ecosystem appears to be developing rapidly with a wide variety of carrier boar

Well, Raspberry Pi, with the Compute Module 4 has done this on the low-end and an ecosystem appears to be developing rapidly with a wide variety of carrier boards and a handful of 3rd-party compute module cards (e.g. Pine64 SOQuartz and the Radxa CM3)