ARM Cortex-M cores are also a bit different from the Application-class processors used in boards like the Raspberry Pi. They are closer to an Arduino than a "real computer".
That is how we did 8 and 16 bit coding on home micros back in the day. :)
My favourite SOC is the ESP32, but I guess it already has too much hardware to emulate and isn't an ARM anyway.
Yeah, I've wanted to learn more about the ESP32 - it seems like people have done some really cool stuff with it and it looks like you get a lot of power and connectivity.
But I'll bet you can empathize with not having enough hours in the day!
The downside is that you'll need to emulate 4 cores plus a GPU. Guest software (the stuff being emulated) may fail if the cores aren't decently fast. You may also need to do USB, audio, wireless LAN, and Ethernet.
https://www.cl.cam.ac.uk/projects/raspberrypi/tutorials/os/
It has enough for doing 2D games bare metal on ARM.
And then you can jump into PiFox.
https://www.raspberrypi.org/blog/pifox-bare-metal-arm-assemb...