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If Qt licensing turns out to be unreasonable for you either way, there are a few other graphical toolkit options. One of my favorites is LVGL. That one might be closer to what you're used to in the microcontroller C space; very very light on resources, but could be a lot more work to develop (unless you're just so used to C that you pick it up naturally). Running it on Linux is a lot easier than on a microcontroller since you can use SDL or write direct to the framebuffer. LVGL UIs can also be prototyped fairly easily in a web browser playground.
Crankshaft does this--it's a modified version of Raspberry Pi OS which starts its own GUI app instead of the desktop. It uses the same kinds of scripts as the Raspberry Pi OS [https://github.com/RPi-Distro/Pi-gen](Pi-gen)
One decent example I can think of off the top of my head is the CutiePi, which is a cool little tablet with a UI built with QML.