Not an embedded linux guy, but from what I hear yocto is the kinda default option for embedded linux nowadays. From what i read at https://docs.yoctoproject.or

Not an embedded linux guy, but from what I hear yocto is the kinda default option for embedded linux nowadays. From what i read at https://docs.yoctoproject.org/dev-manual/init-manager.html https://docs.yoctoproject.org/dev-manual/init-manager.html (quick google search) you should be able to configure it to use any of sysvinit, busybox init or systemd.