I understand that learning FPGA programming (Verilog/VHDL/etc.) is a first-step in that journey. Would you agree? Have you looked at books like FPGAs for Software Programmers? - https://link.springer.com/book/10.1007/978-3-319-26408-0
For each of the domains you have listed, would you mind sharing books/tools/sites etc.?
For example, While researching the above long ago, i had come across the following;
C++ Modelling of SoC Systems Part 1: Processor Elements - https://www.linkedin.com/pulse/c-modelling-soc-systems-part-...
C++ Modelling of SoC Systems Part 2 : Infrastructure - https://www.linkedin.com/pulse/c-modelling-soc-systems-part-...
gem5 Simulator - https://www.gem5.org/
Verilator Simulator - https://www.veripool.org/verilator/
Maybe you can provide a step-by-step roadmap on how a software guy (C/C++, systems programming) can move on to hardware chip design?