I don't work as much with TI but I've used Panda in the past for OMAP4 and some personal work with Beagle/AM335x and it's solid stuff. I'd like to think Beagle's community is as good as RPi's, just a little more low-key (and the chipmaker participates as well)
With RaspPi you can download an SD card image fully set up with a simple "wpa_supplicant.conf" for WiFi and a Bounjour discovery service to register a hostname like 'pi.local'. Takes like an hour with a crappy connection and then another hour at most for apt-get update. Need to hook a security camera? Download a prebuilkt MotionEyeOS image. Need to control a CNC with GCode and a .Net core API? Grab the Duet 3 and a raspberry pi.
I have some good memories of using TI embedded hardware (MSP430) and the documentation being pretty good. That's a different paradigm than a whole Unix system, though, even if it's a system that's going to be used for embedded stuff. It's nice to hear the Beagle situation is good. I remember those boards getting a hearty endorsement from Andrew Tanenbaum but otherwise I don't know too much about them.
The iMX6 used to be single, dual, (solo/duallite), quad. Done. Now there's what - 5 other variants? 7?
What's the best right now in terms of openness and support for someone working at the driver level?