Best platform for os/firmware development


I am a hobbyist searching for a cheap SOC/board to learn armv8 development. I am interested in os development, also bootloader and ottrusted firmware development.

Is there any SOC  that provides good enough documentation to allow me to write my own firmware without banging my head against the wall (not counting lack of understanding for things that are written there)? Most socs I've seen are really lacking in that regard.

Also the requirement is of course armv8 architecture.

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