Earlier quoted context omitted.
Better support, documentation, and peripherals. The ESP32 datasheet is 62 pages. The STM32F4 datasheet is 1729 pages, and that's not counting the reference manuals. The ESP32 datasheet contains about 3 paragraphs about the ADC, which basically say that it has an accuracy of +/-6%, see example code for ways to calibrate it (which probably amounts to a linear interpolation between two sample counts with the pin pulled…
If you're throwing an ESP on there anywhere, wouldn't an I2C or SPI ADC be way cheaper than a whole nother MPU for the same performance?
It's $1 for an STM32F0 or $2.65 for an STM32F4 with a quantity of ten 12-bit 2.4 MSPS ADCs included, but a single-channel SOT23-5 ADC chip is also $1, and if you wanted 10 single-ended channels at 2 MSPS you're looking at $8 per device.
You typically don't use an off-chip ADC peripheral when most every MCU has a few channels of ADC on-board unless you've got special requirements (like sigma-delta high-resolution, simultaneous sampling, very high sample rate, etc), and those requirements cost money.