Personally I use ESP32s for GPIO to control things around the house and have one Raspberry Pi acting as a hub.
In some of the tinkering applications, RPis are shoehorned into the very operarional model that is followed by ESP32s.
ESP32s may be harder to debug but they allow us to remove a big chunk of the complexity that lies between our code and what we want the device to do.
I think your criticism is more in line with "they are not exactly the same as RPis". And that is fine.