It's interesting to see that both "Firefly AIBOX-K3" and "Milk-V Jupiter2" use cores from SpacemiT, a Chinese company. It's even listed as the "Reference stack" that is "Defined together, verified together"!
> Hardware
> RVA23 SoC with IOMMU
> SpacemiT K3
> 8× X100 cores, hypervisor extension, IOMMU