A way to do this on the H3, was suggested to me by Arjan van Vught in June of 2018. Use the watchdog timer (not the trusted watchdog) to generate a reset using a short interval. I select a 0.5 second interval and this works like a charm.
The ARM Cortex-A7 in the H3 does not have an RMR register. It does however have a bunch of debug registers, including a "Device Power-down and Reset Control Register", which might do the trick:
This has a "reset request bit" that you set to 1 to request a warm reset. This could do the job -- but what exactly is a warm reset?
Tom's electronics pages / tom@mmto.org