I concur. i.MX6 not the fastest nor least expensive nor most power efficient SoC but the documentation and wide variety of SOMs make it competitive for lots of products.
I've designed it in a thermal imaging product, where it's 20 bit wide DVP support came in very handy.
And there's no shame with using a processor/RAM/eMMC combo on a SOM, either. Doing the high speed DDR layout on 6 or 8 layers of PCB is not a task for novices. Saving the low-speed interface work for a larger 2-layer carrier PCB makes the project go really smoothly (just watch the EMI off those right angle card-edge connectors!)
There are plenty of companies selling the IMX in all kinds of configurations for really decent volume prices. TechNexion and Boundary have been my favorites so far.