I think Espressif also used ARM in some parts. They are a bit frustrating because ESP32 has a good ecosystem and is cheap, but it's also got crappy tooling and its peripherals, it's microcontroller features, are lacking. As well as having to use their library code, unless you reverse engineer the part, they are just very basic and inflexible.
Unfortunately though they are the only option really. The RPi Pico W is more expensive and there isn't much availability of small modules. I haven't really looked much beyond that. ST don't have much, just one co-processor module which doesn't make me confident that they are looking to develop the product range. Microchip's WiFi co-processors are all legacy products now, and poorly supported.
I ended up just making my own WiFi co-processors with ESP32 modules. NEMA over UART and I2C device interfaces. Not finished yet, and it's a pain having to have two MCUs to program and maintain, but I haven't found a better option.