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ESP32 is available as a tiny module that is soldered to the board as if it was a chip.

Ignoring the module results in a flawed comparison. The module is chip and frequently used.

If they encased the module in plastic and called it a chip, it would be the same. You can think of it as a chip.

Do they sell chip-like modules with camera connectors and battery controllers, though? I don't deny that ESP32 modules look like and are soldered as though they were chips, but to me it's clear that GP was mixing up chips (and chip-like modules) with boards.

Espressif sell bare chips, modules with castellations for soldering to a PCB, and complete boards that typically contain a module. Some 3rd-party boards use a bare chip. Some 3rd-party boards also have castellations, as do Picos sold without pre-soldered headers. 3rd-party modules are also a thing.

Here's a pic of a module and several boards that demonstrates all of that.

https://imgur.com/a/yxjG8vh

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