Their have been many vulnerabilities in TrustZone implementations and both Google and Apple now use separate secure element chips. In Apple's case they put the secure element as part of their main SoC, but on devices where that wasn't designed in house like Intel they had the T2 Security Chip. On all Pixel devices I'm pretty sure the Titan has been a separate chip (at least since they started including it at all).

So yes incorporating a separate secure element\TPM chip into a design is probably more secure, but ultimately the right call will always depend on your threat model.