Not sure I understand the RISC-V comment, as many RISC-V SBCs have Pi-compatible 40 pin GPIO headers. Pretty much all the JH7110 boards are fully compatible with 28 GPIOs, power etc. The same is true of the SpacemiT K1 Muse Pi Pro -- fully compatible with Pi 40 pin.
Some with other SoCs have partially compatible 40 pin headers e.g. Milk-V Meles (TH1520) with just 8 GPIOs (plus I think dedicated 3xUART, 2xI2C, 1xSPI, 1xI2S,1xADC?). And the Banana Pi BPI-F3 has the older-style Raspberry Pi 26 pin header.
It may or may not be relevant to you that the above are generally all in a performance class with Arm A55 boards, a little slower than A72 (e.g. Pi 4) but a lot better than A53 (e.g. Pi 3), and there is nothing comparable to the two year old Pi 5 yet.