I think ESP32 is really the one to beat.
Arduino have been lazily cashing in on their brand name for many years.
I still usually gravitate to the Pi or Arduino, but mostly due to a combination of lack of familiarity with other brands, and being a repeat customer for stuff that just works
Looks like Zephyr has an extremely comprehensive list: https://docs.zephyrproject.org/latest/boards/index.html
Doesn't include prices though, and it's really too comprehensive - it seems to include lots of boards you can't actually buy. So maybe not very useful for finding good boards.
Looking for a successor to the RPi - good documentation, easy to write bare metal for (no SDK), no surprises.