The Micrium founder says the Cortex-M was meant for RTOS.
It all depends on how you manage all your various priorities (P) of tasks, minimizing your IRQ time and having as many stacks as you have classes of Interrupts. You can do pre-emptive high P IRQ and wait for low P IRQ's. You could choose a single stack but it is faster to have shared or dedicated stacks for classes of IRQ's.
It also depends on what tasks need to be done that can be done by other Cores, but if you are an expert in RTOS and have a complex high-speed application then the M series core is what's best according to the chief architect. (hmm M as in Micrium)
Anecdotal
6805 RTOS (custom)
Back in the day when we created the world's 1st 100 home trial of a multi-service ISDN with 1.544 Mbps full duplex starting in 1979 we needed to interface to our synchronous 2-way data streams every 8ms which is the 24 channel DS1 voice/data channel rate while tasks were prioritized on messages like fire/burglar alarms and low P tasks such as gas/water electric meter reading or medium P tasks such as assigning channels to subscriber off-hook and ring generator or TV channel changer. These were all done on the old MOT 6805 packages and there were 2 levels of concentration units on the 1" copper coax distribution channel over a mid-band RF channel and 6/12MHz for the drop to the home all in sync upstream by a single bit upstream feedback loop so they were received all in sync to the same frame (line-build-out) as a hi-P (once in a while) short task. There were 4 levels and three levels of programmers never had RTOS failures while one level, always had random maybe once a week IDT Timeout error message while it still worked. This is like a Windows blue-screen displayed when a task from a real-time h/w message has no ACK response. (that's all it means) I was employee #5 and almost 5 yrs later all the IP was sold a big producer of 70's Game machines and Scientific instrumentation in Philadelphia and we got our last paycheque in Winnipeg. But it was a fun project. Even up in a bucket truck to tune the RF modem or managing the network home for the Mayor of St Louis visit. The RTOS supported more than a dozen ISDN services like pay-TV, Weather graphics on TV, Opinion Polling , 56k Uarts end-end, automated meter reading, alarms to 911 or Fire station etc etc.