I had two RTX boards. One was a rather expensive board six layer board with a Meg of SRAM and a shared memory interface to a PC ISA bus. It was from Silicon Composers. The other was one of the cheap European Indelko Forthkits, with RTX-cmForth, that I got from Dr. Ting. I had no experience with the 2010. I didn't remember that the 2001 had smaller stacks than the 2000 but I seemed to recall that the 2000 had a single cycle multiply and the 2001 had only the multiply step instruction. I no longer have the boards or the manuals and I don't think that Dr. Koopman's book goes into the details of what made the various models of RTX-20xx different.
It was a long time ago, so I might have been confused about bit level details after all of these years. I spent a lot more years working with P21, I21 and F21 and have a much better memory of the bit level details there, it was also more recent.
Harris seemed to try first marketing it as Forth chip, then failing at that as a good realtime computer for use with C. I have often heard that it was too bad that they didn't know how to market it properly. Still I don't know if anyone really knows what they should-could-would have done to market it more successfully. They simply decided that they could easily market 80C286 that they could make on the same fab line. It also helps date those chips, Novix vs 8088, 8086 and RTX vs 80286. The realtime response, fast interrupt handling (relatively) and deterministic timing were where they won most easily, but they weren't 'backward compatible' with PC software like the Intel compatible chips so they were swimming upstream in their marketing efforts.
Best Wishes