Hello,
For the i.MX7. The RPMsg is the Linux API that is in charge of communicating the core A7 and M4. The RPMsg is a virtio-based messaging bus, which allows kernel drivers to communicate with remote processors available on the system.
The MU is the unit module from the i.MX that enables two processors within the SoC to communicate and
coordinate by passing messages (e.g. data, status and control) through the MU interface.
Hope this information could help you.
Best regards,
Diego.