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I'm not an Arm dev and am just a consumer so I may be misunderstanding, but isn't Arm SystemReady pretty much the thing that's intended to solve the problem you're talking about (among others)?

https://developer.arm.com/documentation/107981/0302/SystemRe...

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It is, but it seems like only servers are adopting it at the moment. Or high end ARM workstations. I can't think of any consumer devices or SBC's off the top of my head that support it.

Raspberry PI and Nvidia AGX

https://github.com/pftf/RPi4

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