There are new RISC-V chips that aim to do that: https://www.cnx-software.com/2020/10/24/bl602-bl604-risc-v-w...

Here is a recently announced board: https://www.cnx-software.com/2021/05/28/rv-debugger-plus-uar...

They're starting to have boards with RP2040 + Wifi (Wio RP2040 mini, Arduino Connect RP2040) but they seem more expensive than ESP32 boards...