From my point of view Nginx feels "old". It's a C codebase without a great amount of abstractions and interfaces, and instead having a bunch of #ifdefs here and there. Unit-tests and comments are not to be found. Build via autotools.
Envoy looks as modern as it gets for a C++ codebase - apart from maybe the lack of using coroutines which could be interesting for that use-case. It uses C++14, seems to be extremely structured and documented, has unit-tests, uses Bazel for builds, etc.
So I think the experience for anyone being interested in working on the code will be very different, and people that prefer the style of project A will have a very hard time with the style of project B and the other way around.