I haven't worked with 'bigger' (application processors running Linux) yet, but with the small MCUs I always stick to an Open Source toolchain/RTOS. Sometimes yo

I haven't worked with 'bigger' (application processors running Linux) yet, but with the small MCUs I always stick to an Open Source toolchain/RTOS. Sometimes you have to write a driver yourself, but if you can integrate it upstream it's not in vain. But I imagine that the larger SoCs are a more complex beast where getting everything to play nice with upstream Linux would be a greater challenge.