Great question — answering as the UphillTech team:
[update] phuctv notes: There's SBSA/SBBR in ARM and machines with those features have a proper UEFI exactly like on x86 and can boot any ISO images or drives that conform to UEFI. No more device tree things and an ISO built for SBSA can boot on any ARM boards with UEFI ... There are even SBBR support for Raspberry Pi 4 Looking into this, this would primarily impact ARM servers, which makes sense, that's where the real money is, and as phuctv notes, Raspberry Pi 4 supports this. But I suspect not many other SOC type boards do. In general however this doesn't significantly alter the following answer so far, since the question was more related to general small ARM SOC type devices, not ARM...
Full answer by Lizardx: https://unix.stackexchange.com/a/722075 (CC BY-SA 4.0).
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