The original Bus Pirate relies heavily on a more complex bytecode-style syntax for many lowlevel operations. The ESP32 version replaces most of that with simple, explicit commands that perform the same tasks through a more straightforward workflow
The ESP32 version also avoids flag heavy commands and uses interactive shells where appropriate. Its main additional strength is radio support not present on the original Bus Pirate, including WiFi, RFID/NFC, SubGHz, NRF24, FM, infrared, and Bluetooth.
It can also be controlled through the Web CLI from any phone, tablet, or device with a web browser, using integrated AI assistant to help with hardware task.
So it is not simply a cheaper Bus Pirate v6 clone
The ESP32 is great - I will get a couple for my toolbox, sitting alongside my own ancient Bus Pirate and things - but the RP2350 is a bit more BOM-friendly, imho. All of these things can be used to bring-up an embedded system - I'd really want to use the BP v6 to bring up an embedded system with an IO package I could emulate/integrate with the RP2350 on both sides of the design ..