Pixels use the open source Trusty OS and Open Titan as the basis for the TEE and RISC-V secure element.
TrustyOS:
https://source.android.com/docs/security/features/trusty
OpenTitan:
https://security.googleblog.com/2019/11/opentitan-open-sourcing-transparent.html?m=1
https://opentitan.org/
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