Currently I'm quite pleasantly surprised by the abilities of the ESP32-S3 chip. Only downside I've seen so far is the crappy ADC but other than that the software ecosystem is nice, well documented and the chip is very capable.
You are right, the ESP32's in general are great other than the ADC. Super low cost and unlike other MCU suppliers (Microchip, TI and STM), I could get ESP32-C3's during COVID - and that is the reason I used them in two projects, albeit at risk. Also used an ESP32-S3-WROOM. You can calibrate the ADC's but still they are mediocre at best. No good for accurate analogue measurements, but I did use it on one project for a non-critical battery fuel gauge (could not get fuel gauge chips during COVID) and it was OK.
Espressif's BLE documentation is a dog's breakfast. Their hardware datasheets has ambiguity in them and is missing some detail that would be found in, say, TI and Analog Devices datasheets. The ecosystem is satisfactory but not great. Mind you I recently found a glaring pin-out error in Texas Instruments two year-old chip that no-one at TI had even picked up. The pinout list showed input pin for CAN bus data incorrectly described as a chip enable pin

TI's documentation QA is in trouble if such an error can exist for two years before they know about it. Overall Espressif does a reasonable job with their English documentation, considering it is a Chinese company.
No complaints though, because ESP32's got me out of a bind during COVID. Super low cost, which is good for high volume cost-sensitive projects. Plus I learnt to use a new MCU.