Licensing issues aside, I also remember reading that at least on Raspberry Pi, exFAT is significantly slower than ext4.
Maybe a workaround is to ship the product without the driver, then have the user download it during setup? But I suggest simply refusing to support such garbage if you can get away with it.
BTW, Android 6.0 devices have the option to reformat the SD card with ext4 in order to allow installing apps on it. Something to do with the file permissions, which neither FAT32 nor exFAT support to the required degree.