The ESP32 can certainly do any of those things, but where it starts to become a problem is when you want to do all of those things. You start to run into limita

The ESP32 can certainly do any of those things, but where it starts to become a problem is when you want to do all of those things. You start to run into limitations on application size, IRAM, GPIO's, etc. I've shipped ESP32-based boards and written firmware for it that really tries to cram in as many features as possible, but you do hit limits. While I almost certainly wouldn't make the choice of shipping a high-volume product with an actual Raspberry Pi in it, I do see why trying to cram all of this into an MCU is tough — especially if you're trying to get to market quickly. Perhaps this would have been a good place to use the RPi CM4 though?