https://www.microchip.com/en-us/development-tool/linux4sam.o...
With well made compute modules: https://www.digikey.com/en/products/detail/microchip-technol...
And open reference designs that fit on 4-layer boards (!!!!) despite using DDR2. Though I think most people would be more comfortable with 6-layer boards (which is possible with OSHPark today).
The on-chip peripherals are well-documented, but off-chip peripherals require some digging to figure out how to program correctly.
You can debug with GDB surprisingly easily, or find a Forth to throw on there and just start poking registers.
You can run full blown Linux efficiently at 500MHz or 600MHz processors like STM32MP1 processors, powered by AA batteries or other small battery packs.
There's also SAMA5D2, and a few other competitors in this space (both above, and below, the STM32MP1).
When we're talking about "consoles", that's "plug-and-play executables", meaning you now want a proper compile / library -> ELF + loader == Linux kernel, security, etc. etc.
Besides, a DDR2 chip gets you like 512MB of RAM for $4 and easily fits within the power-constraints of AA-batteries. There's very little benefit to going to the microwatt-scale devices like STM32 Discovery.
----------
Microprocessors for the win. Entry-level MPUs exist for a reason, and there's a ton of them well below Rasp. Pi in terms of power / performance.
There's many at the 2D level of graphical performance, but 500MHz is still a bit low for this. You'll probably want to reach into faster 1000MHz / 1GHz MPUs and push into STM32MP2 if you're reaching into 3d levels of performance. (Which is beginning to look like a cut-down cellphone chip really)
A low-res screen like this works well because the chip can't rescale its video output.
ST provides libraries for all the peripherals so it's pretty easy to jump in if you know C. I think microPython works on a lot of these boards, too.
Meanwhile, the ESP32 acts as an ultimate co-processor through the VDU protocol inherited from the BBC Micro. That's a part of the architecture that I really appreciate, because it positions software design around the serial I/O and how effectively you delegate your tasks to the VDU. Early reactions from people who are used to 8-bit coding were a bit perplexed because they couldn't push a lot of stuff down that pipe, but as the firmware has developed, the ability to define complex, shader-like programs has also built up. Nothing stops you from describing, e.g., a tilemap engine in terms of a program that stores map data, tiles, and sprite assets in VDU buffers, and then launches a program to do all the array processing needed to blit the tiles and display the sprites when given a camera position.
That's cool because it means that your graphics engine is decoupled from the CPU language. The same VDU sequences will work in Basic, assembly, Forth, C, etc.
About the only exceptions I can think of are some flightsims like SSI's Flanker (which had very complex graphics for being simply flat-shaded 3D) and the games that emulate this nowadays, like Tiny Combat Arena.
It had other limits to explore other than shoving as much as you could into 64k of memory and 1Mhz of processing power.
Very much in the spirit of the early home computers (inc a decent BASIC) but with a lot more oomph.
I started using a graphics card with a 34010 before there were tools available for it. I did ports of GNU binutils (gas and ld) to target it then wrote some firmware in assembler for an X11 server to call to do basic tasks like filling rectangles, line drawing, copying with colour expansion for displaying fonts.
Still have the ISA card but haven't powered up the machine it is in for a long time.
I just wish these would move on from the same crop of retro CPUs (z80, 6502, maybe 8080) and clone VDPs on FPGA. I want a retro-style 2d/blit-based machine, but with more advanced hardware. Maybe a Cortex-M, z8000, 68000, low-end Risc-V, etc. Still give it BASIC in a boot ROM, but some more 90s style headroom to grow into.
I guess what I'm saying is, I totally get that all these people grew up on Commodore 64s and are trying to recapture that magic. However, the Amiga/Atari/BeBox/etc hacking days shine way more with me.