If we're going to turn this case thread into another SoC dream thread, may as well throw this in.
I have no idea if this would fit the thermal envelope of the Pyra or if the 21mm X 21mm physical size is too large.
https://www.renesas.com/en-us/solutions/automotive/products/rcar-h3.html
But - it has a fun specsheet and there is a dev board for it.
https://www.renesas.com/en-us/solutions/automotive/adas/solution-kits/r-car-starter-kit.html
Note the big heatsink & fan. If used in a handheld fashion, this monster would have to be seriously throttled back.
Automotive grade so it should have availability for an extended time.
Linux is listed first in Supported OSs.
Probably too expensive, not available to the project, too power hungry, etc... But - it has a fun spec sheet.