Having worked with both the ESP-IDF experience is far better than Cube MX or even HAL. FreeRTOS is properly integrated out of the box, and stateful drivers are

Having worked with both the ESP-IDF experience is far better than Cube MX or even HAL. FreeRTOS is properly integrated out of the box, and stateful drivers are implemented as FreeRTOS tasks. There are decent escape hatches if you need to get closer to the metal. TRM and datasheets are clean and good (and no forced registration like some vendors). H7 is a very beefy general purpose micro - more GPIO, multiple CAN, more UARTs etc. ESP shines when you need IP networking, wifi or bluetooth and can live within the (pretty generous) gpio and peripheral limitations.