And as a matter of fact, I played it a lot as a kid. The DOOM predecessor, Wolfenstein 3D, may be called the grandfather of first-person shooters (FPS) since it almost invented the genre. Also, RETRO-CIAA uses RGB332 direct-colour pixels, not palettised as in the original VGA hardware. Unfortunately, I almost immediately discarded that idea: the most optimised and stripped-down port of DOOM I know of, the GBA port mentioned above, was megabytes of storage and hundreds of kilobytes above what's available: RETRO-CIAA has only 48 Kb of RAM and 1 Mb of FLASH. I was willing to push the RETRO-CIAA hardware to its limits, and a port of DOOM came to my mind. The outcome was a capable and fun hardware platform and framework that I later named RETRO-CIAA for its 8/16-bit graphics aesthetics and retro-console features. In this project, I've implemented a high-performance, double-buffered software video adapter that integer-scales a low-res frame buffer on the fly while generating an HD video signal. That is how DOOM can also run on a Gameboy Advance with a 17 Mhz MCU and as little as 256 Kb of RAM. Massive optimisation efforts, cutting non-essential features and having plenty of storage can lower the requirements. Meeting or exceeding the game minimum requirements (megabytes of RAM and storage) allows it to run almost unmodified. The open-source community tweaked and compiled the DOOM source code to run almost everywhere.
Typically, this requires external LCD drivers like the ILI9341 or an LCD controller integrated on the MCU or MPU.
It is common to run open-sourced PC games from the '90s on newer embedded systems.