Want to select a SoC with good Yocto support, please advise

Hello everyone,

I'm looking for SoCs that can read 3 MIPI CSI-2 virtual channels (768x576x60fps), do (preferably hardware-accelerated) Lens Distortion Correction (= de-fisheye) and encode the streams to h.264/h.265 or VP8/VP9. I'm not yet sure if I need hardware-assisted auto-exposure control loops via V4L2 and I2C to the camera sensor. Might very well be.

Based on my research, the following SoCs qualify. I don't yet have any practical experience with any of them, and would like to consider the quality of their Yocto support in my decision finding process. In other words: I don't want to shoot myself in the foot by selecting a chip that is a pain to work with or is lazy in updating newer Yocto versions.

* Texas Instruments AM62x
* NXP i.MX9
* MediaTek Genio

I'd appreciate any comments or advice on these and other SoCs that you think would be worth considering.

Warm regards,
Manuel