Surely at that point you would just treat the SBC as a reference design and fab your own boards?
Designing and fabbing your own boards doesn't always make sense until you're on a version 2, or 3.
I read somewhere if you're building more than 10,000 devices, it's better to design the whole PCB board on your own. Before that volume, using SOM modules for time to market could be more reasonable.
Last time I checked, Broadcom forced you to integrate their compute modules into your product because there was no way they would sell their CPUs alone, no matter how many of them one would be willing to buy. That is not normal in the industrial world. As an example, the Allwinner H3 used in a lot of boards is $5 each for 1000+ pieces at Alibaba, or $10 at Olimex in the EU in single quantity. It's also well documented. https://linux-sunxi.org/H3
Things may be different with the RP2040, which is a very interesting part, but that chip has nothing in common, except the name, with the ones running the bigger Linux capable Raspberries.
Things are indeed very different for the RP2040. They are widely available in both small and large quantities, and have excellent documentation publicly available. Alas, they are not SoCs!
You can buy a Toradex, Variscite or PHYTEC module and pop a binary distro like Debian in there very easily.
Disclosure: I work for one of the companies above.
RPi did the right way in my opinion: its (cheap) SBC format gains attention widely, then it started to sell its own SOM in large volumes.
Seconding this for the Beaglebone Black (including the Industrial variant). FreeBSD support and onboard Ethernet set it apart from some alternatives.
if you use them for hobby projects, many of them are fine.
if you ever want to convert your project to something commercial, I would still consider raspberry pi and beaglebone instead based on software maturity and community support and their ecosystem at large.
I really like NXP's i.MX6/8/9 chips, I wish there are some i.MX SBCs as popular as RPi and Beagles, for both hobby and commercial applications.