Then take a look at the RPi Pico. All of the above at an even lower price point: I think I bought 3 for $12. Only thing missing is wireless, which you can get in the Pico-W.
The only thing the Pico-W beats the ESP32 on is power consumption. ESP32 costs the same as Pico non-wireless. ESP32 has double the clock speed, ram, and flash, plus wifi and Bluetooth, at the same price.
Plus ESP32 has a huge ecosystem of software and hardware, the same way the original big Raspberry Pis are much easier to develop on. Pico ecosystem isn't nearly as big.
The PIO units can be a killer feature in some specialized cases. And not all the ESP32 variants have native USB, which can be a requirement. But generally I agree that ESP32 is the winner, for now.
the RP2040 can be overclocked like crazy, has dual cores, a considerable amount of ram and the amazing PIO devices which allow the RP2040 to bitbang DVI. The PIOs are amazing.
An ideal board would have an RP2040 as the USB terminator (where it can be a usb mass storage device for dragging and dropping firmware) and the ESP32 can handle the radio.
ESP32 is on the order of 1.05-2$ each and the RP2040 is 0.70
