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I’ve seen a few attempts at this sort of thing for microcontrollers, the one that jumps to mind first being TockOS (https://www.tockos.org). I’m not sure whether Zephyr has something similar, but I wouldn’t be surprised if it did.
Using a linux-based system might be more cheaper than you think (especially if you are buying in bulk). For instance, https://www.thirtythreeforty.net/posts/2019/12/my-business-card-runs-linux/ Now the author researched extensively and found suitable AllWinner chips. So you might have to do that as well if you go this route.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.