Reminds me that comma.ai has its own line. While their setup is quite expensive they do run production for a smartphone-level of difficulty in-house. They detail it incredibly well at commacon [0].
Had a chance to see a live demo last month. Looks great, can do a lot more things than an SO-101 and the teleop via the app if both fun and useful. Would definitely buy if I had the money.
[0]: https://www.youtube.com/watch?v=1iiBSN224w4
[1]: https://www.youtube.com/watch?v=LE-QlIWMHxM