> However, Linux boot times are atrocious, in the 30 second range.
That's wrong. It takes time to optimize it but as long as you're willing to make the effort and don't have too much dependencies you can strip a lot of stuff to make it really quick e.g.: https://www.furkantokac.com/rpi3-fast-boot-less-than-2-secon...
Not sure if you can do this easily on OPIZ since it's a RPi clone it might be less open
The Ox64 and Pi Zero W have another advantage over the Pico: USB 2.0.
I had a somewhat similar use case, bridging a USB stream to a TCP connection. Unfortunately, the device I was using had a non-compliant HS (12Mbit) USB implementation and in the end it was just simpler to use an Orange Pi Zero than mess around with the Pico. However, Linux boot times are atrocious, in the 30 second range.
This is where the Ox64 might shine, having USB 2.0, but also running a (presumably) minimal RTOS with boot times far faster than Debian.