Interesting definition choice, as what constitutes an MMU has also fuzzily shifted over the years. From what I've seen, most of the SoC designs contain what in the microcontroller world of the 90s would be considered more than a minimal MMU, take for instance the classic M68451 [1], and the multi-stage bus pipelines and super-wide buses of these 'embedded' designs easily surpass such early MMUs.
FWIW, my personal definition is "doesn't have an MMU"