For most embedded work which needs to be reliable, the RPi is to much designed to a price, with enough tradeoffs making it an unattractive and ultimately more expensive option. In a PoC we did, we had to replace RPi's weekly in the field, racking up intervention costs. This completely disappeared the moment we switched to beaglebones.
I quite like the RPi for what it is, a cheap & fun platform offering a lot of possibilities to the masses, but I wouldn't consider it to be a serious embedded platform to target you can depend on. But I've used it as a video/slideshow player in real-world situations, where if they'd drop out, there aren't any real consequences (which most of the time were cards failing, and yes, the root-fs was read-only...)
Though must say TI AM3* boards (beagle’s) have good mainline Linux support and they appear to do all their work on public got repos. Now the iMX* boards seem nice but I haven’t really found a maker board variant.