RPi 4 boots from GPU/VPU running closed firmware (incl. Microsoft ThreadX RTOS), which retains full control over the OS application processor, https://www.fsf.org/resources/hw/single-board-computers
Boards based on the Broadcom VideoCore 4 family, such as the Raspberry Pi, require non-free software to startup, although signature checks are not enforced. A free proof-of-concept replacement firmware has been developed, but it is not in a usable state, and development has halted.
By default, the GPU requires a blob running in this same startup firmware. However, Broadcom also supplies an "experimental" free software stack, which could run without blobs, if the startup firmware were free.