There are plenty of aftermarket options from known brands like Alpine and Pioneer, plus plenty of Chinese versions of varying quality.
The main issue with the aftermarket options from my perspective is the limited integration with factory parts without converters and adapters, namely RVC and amplifier and to some extent with the MFD and climatronics as well as connector differences with GPS, antennas etc.
There is a PQ version of the MIB unit from the non-MQB Tiguan, Beetle, Caddy etc which physically fits in the 2DIN space of the RNS510 but is not a plug and play option either because of the component protection and feature activation (for security purposes).
So long answer - there is currently no gold standard replacement for the RNS510, each has its own strengths and weaknesses. It comes down to what features are most important to you and which aren't so that a solution best meets your needs.
Apart from AA/Apple Carplay and mirrorlink, which features are essential to you, which are nice to have and which could you take or leave?
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