I suggest that you can consider imx8mp or imx8mm, if you don't need ISP, you can use iMX8MM, refer to the RM,
13.5.1.2 Features
• MIPI D-PHY specification V1.2 (Board Approved)
• Compliant to MIPI CSI2 Specification V1.3 except for C-PHY feature (Board
Approved)
• Support primary and secondary Image format
• YUV420, YUV420 (Legacy), YUV420 (CSPS), YUV422 of 8-bits and 10-bits
• RGB565, RGB666, RGB888
• RAW6, RAW7, RAW8, RAW10, RAW12, RAW14
• All of User defined Byte-based Data packet