The ESP32s belong to a completely different category of processors, they are microcontrollers optimized first and foremost for cost and power efficiency rather than raw performance or the ability to run Linux. The Rockchip SoC used here, on the other hand, is more akin to what you would find in a cheap Android tablet or set-top box: it has Cortex-A cores, a proper GPU and can use far more memory than the mere hundreds of kilobytes of SRAM built into ESP32 chips. Of course it also requires far more external components and draws significantly more power when running at full speed, so it's in no way a drop-in replacement for microcontrollers in products where Linux is not a hard requirement but BOM cost and battery life are.