ESP stuff is so damn cheap and capable now I'm not sure what you would use Arduino for these days.
Don't look at just the specs. You also need to look at the board design and programming environment. I've used the ESP32 native tools and they are a lot more complex than Arduino. But I'm an embedded firmware developer, so it's kind of what I expect. But I used an Arduino, with 5V tolerant outputs, to light up Halloween costumes for years. I do it in 1 page of code that's I write in their IDE. I don't have to set up…
Besides that, IMO hiding hardware details from the developer is the worst thing about Arduino. The hardware details matter and it's far too easy to get footgunned by some implementation detail hidden from you.
But really, esp-IDF isn't that much more complex, nor are most of the other native frameworks. It's a bit more verbose, but esp-IDF provides helper libraries that replace almost everything Arduino provides, but in a way that is actually designed for the hardware and doesn't have to do things like lookup pin numbers in a giant table for each and every gpio call.