I think their point was more: is an ESP32 more like a arduino (or any other MCU) running bare metal or some thine RTOS or more like a raspberry pi which is more like a mini computer running a full fledged Linux. And I guess the answer it kind of always sat in between a little bit and now the family kind of spreads out across this whole spectrum.
> is an ESP32 more like a arduino (or any other MCU) running bare metal or some thine RTOS or more like a raspberry pi which is more like a mini computer running a full fledged Linux
Espressif's answer: yes
Arduino have muddied this water now, too, as some newer ones come with a full fledged Qualcomm SOC, multiple GB of RAM, and power consumption which requires quite a beefy heatsink.
To date ESP32s have been best thought of as arduino-like things, albeit with some fancy hardware available like WiFi and Bluetooth stacks. But very much microcontroller boards where you compile firmware and push it to the board over USB.