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How did they handle implementation differences between SoCs? Do all RISC-V SoC have exact same memory maps and SFR behaviors?

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There are memory map and SFR differences. I bet it's similar to how Linux on Arm/PowerPC/MIPS handle it with device trees.

Device trees indeed.

Note that newer SBCs have efforts implementing UEFI spec[0], and RISC-V is working on OS-A Platform spec[1], which further reduces basic peripheral and memory map differences.

0. https://github.com/riscv-non-isa/riscv-uefi/releases

1. https://github.com/riscv/riscv-platform-specs/blob/main/risc...

For the higher end "Application" cores that do e.g. run Linux, there's a platform standardization effort. Refer to OS-A platform[0].

0. https://github.com/riscv/riscv-platform-specs/blob/main/risc...

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