I'm not sure why you are not sure - S3 was using Cadence's Xtensa 32-bit LX7 dual-core microprocessor, but the article on S31 only mentions "dual core" without too much detail.
That's the SoC. The CPU is a small part of it. For example they could be using an open source design like the CVA6, or a commercial design from someone like Andes.