Earlier quoted context omitted.
And the line between the two is blurred now with MCU running at hundreds of MHz. The STM32H7 is has more IPC than the original Raspberry Pi.
Do you take external DDR RAM on an application-class ARM core? You're an MPU. There's a blurry line sometimes, but Application-class (Cortex A* cores, like A5, A35, etc. etc.) are solidly MPU. Not even close.
The actual difference IMHO is the existence of an MMU. (Which is, fdpic/linux-nommu efforts notwithstanding, the general "Linux" condition.)
(Ex.: the SOPHGO SG2000 RISC-V chip comes with integrated DDR3 RAM, but is still solidly an MPU. I believe there are some ARM Cortex-A with integrated RAM too, can't think of any off the top of my head. [Ed.: nevermind, the SG2000 is dual RISC-V/ARM])