I like the low consumption and fast operation of ESP32, as described in:
https://www.espressif.com/en/products/hardware/esp32/overview
I am mainly into sensors and man-controlled robotics, so the wi-fi side looks a bit frightening to me. I do not know much about networking either. although I am aware IoT is the future.
Comparing with Arduino MKR, the boards based pn ES32 I can find here are cheaper.
The advantage of running 3.3 sensors without level shifter is in my case very relevant while still, limitation in I2C are also relevant.