It is a little bit complicated to start and understand how the series ESP-S* works, but as soon you do, everything gets better. It does have Wi-Fi and Bluetooth capabilities and also can be very small. A good example are the Adafruit Qt Py series. I am currently working with the Adafruit Qt Py (ESP-S2) and I am in love to that board. This one, doesn’t have Bluetooth, but the S3 does.
Because of the Xtensa, you need to use a special fork of Rust maintained by Espressif, but worth a try.