Being a bit of a fan of OS2, I've just purchased the latest clone incarnation from Arcanoae which they are calling ArcaOS. As ArcaOS 5.0 can be installed into a VM, I'll be trying that and also seeing if it can boot from a USB stick as an installed OS (doubtful, but worth a try). As far as I can see being an x86 OS it should work fine on the Udoo86, the only part that won't work without some tinkering possibly would be the 'Arduino' side
You may find that there are issues around drivers for the LAN/WiFi/Bluetooth/Video. However if running in a VM these will be virtualised so you may be OK.
