Is there a reason you're not interested in those NVIDIA Jetson modules? Even excluding the GPU compute, I had thought the Orin boards were significantly faster than a Pi 4.
So for what we’re using it for, which is handling Wi-Fi communications to a central server, handling CAN bus communications to four motor controllers, dealing with RTK GPS and calculating path following parameters for GPS paths, the raspberry pi is perfect. They are cheap, have excellent documentation, and until recently availability was no issue.
Jetson boards are much more expensive. We do plan on making a computer vision add on for our robot which uses the Orin or similar to process images, but I find the raspberry pi perfect for sort of stitching the whole system together.
