> Cortex-A processors that support both Thumb and ARM instructions almost never actually switch at all.
That is not correct. At least before ARMv8, most processors that could run both Thumb and ARM switch very frequently, up the point some libraries could be Thumb while others were ARM (i.e. within the same task!). A lot (but not all) of Android for ARMv7 is actually Thumb(-2). This is why "interworking" is such a hot topic.
Also, contrary to what the above poster says, switching does not have a "high cost", it is rather similar to the cost of a function call.