At its core those all ESP32 are microcontrollers with RISC-V cores[0] and integrated wifi. There's a plethora of peripheral configurations, hence all those ESP32-* variations. This one even has Gbit ethernet and audio, bit still, at it's core (hah), RISC-V with only a few hundred MHz and 512kB RAM. So the peripherals are now similar to a Raspberry Pi, but not the CPU part itself.
[0] older versions had Xtensa cores, not RISC-V.