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For the migration of CC26x0 to CC26x2R please read Hardware Migration From CC26x0 to CC26x2R. The CC2651R3 is a downscaled version of CC652R with 32 kB of RAM, 352 kB of flash, and a cortex M4. The two devices are pin to pin compatible in the RGZ package and a PCB design made for the CC26x0 can be reused for the CC2651R3 with required BOM changes. The CC2651R3 in 5x5 the RKP package is not compatible with the CC2640 5x5 RHB package.
The CC2651R3 is a downscaled version of CC26x2R/CC2652R7 with 32 kB of RAM and 352 kB of flash and a cortex M4. The two devices are pin to pin compatible and a PCB design made for the CC26x2R can be reused for the CC2651R3. The only BOM update required is updating the wireless MCU used.
The CC2651P3 is a downscaled version of CC2652P/CC2652P7 with 32 kB of RAM and 352 kB of flash and a cortex M4. A PCB design made for the CC2652P can be reused for the CC2651P3.