Excellent article by @awkwardengineer:
!!!
This also applies in the OSS world – integration is the hard part, and this is one reason projects like Zephyr are doing so well – they are always integrating the complete stack from the HAL to the high level APIs. Yocto on the other hand tries to polish a perfect core, throws it over the wall, and then BSP vendors take this and build monsters around it. How much better if all the BSPs were integrated into one build system and learned to play nice with each other.