We do not have the comparison document about it, but you can see our Android_Release_Notes, it have detail on the feature.
The most difference is the hardware in the Bluetooth and Wi-Fi.
After the android11 we use
•NXP 88W8987 for i.MX 8M Mini
EVK LPDDR4 and i.MX 8M Nano
EVK LPDDR4 board
• NXP 88W8997 for i.MX 8M Plus
EVK and i.MX 8MQuad EVK Rev.
A board
And before the android-10.0.0_2.0.0 version we use and support Qualcomm 1PJ QCA9377 for
i.MX 8M Mini EVK LPDDR4
board.
In the Android 10.2.3 and Android 10.2.5 we change the Wi-Fi to NXP 88W8987, this is the different.
Details you can read the related Android_Release_Notes.