ARM32? I would disagree. I've had occasion to do reverse engineering and hand-assembly of various bits of ARM32 Thumb code recently. It brought back all the feels of hand-assembling 6502 on my Apple //e in 1994. Moreso even than AVR assembly. The ARM32, 6809, and 6502 are all cut from the same cloth. Same type of vehicle, just more cylinders.

ARM64 and RISC-V I would agree are very different beasts. One of the key differences I feel, is that caching and pipelining become much more important on these systems. Most (not all) ARM32 systems have very simple and short pipelines, and no cache. E.g. Cortex-M3 and -M4.