Yeah, they usually fall short on equity and terms. With salary startups can't compete vs established companies, fundamentally.
As for learning, obviously it depends on the specific companies and what you're interested in. But what Naval is talking about here is becoming a founder. At startups you're wearing more hats, can have a bigger impact and are closer to how things work. You'll probably learn a lot more about being a founder than at a big company where your role is more defined and sandwiched between layers of abstractions, many levels away from the CEO and decisions being made.
As for learning, obviously it depends on the specific companies and what you're interested in. But what Naval is talking about here is becoming a founder. At startups you're wearing more hats, can have a bigger impact and are closer to how things work. You'll probably learn a lot more about being a founder than at a big company where your role is more defined and sandwiched between layers of abstractions, many levels away from the CEO and decisions being made.