How so? I have a product that you can buy that runs on an ESP32S3[1]. They work very well and you can even do OTA updates. Even my competitor uses an ESP32 :)
peripherals are a dumpster fire. I usually have to resort to bit-bang if i want to use the peripherals in a slightly different way than intended. Way easier than figuring out all the "drivers" thing to see if it's actually possible. Also, the couldn't make a decent ADC if their life depended on that. I use them for projects that require radio and GPIO, or slow PWM, or low accuracy ADC, or screens (but only with the preapproved screen controllers)
Did you need to go through CE certification to get your product on the market?
I have some ESP-based hardware ideas of my own (which include custom PCBs) but the CE certification is prohibitively expensive..