Any Cortex A8 would probably suffice. I've been out of the game for a while but there was definitely a vendor push to 64-bit SoCs for even mundane tasks, not to

Any Cortex A8 would probably suffice. I've been out of the game for a while but there was definitely a vendor push to 64-bit SoCs for even mundane tasks, not to mention all samples being Android based... If you can get away with something low spec then you'll be fine, generally. Board bringup for any Cortex A8 or similar is comically easier than for lines ending in double digits. I found Rockchip much easier to work with than TI, fwiw.