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The Teensy is quite different, I don't think some of its famous audio/DSP applications could be ported to the ESP32. Hoping to be wrong though.

This synth for example is entirely built around a Teensy.

https://electrotechnique.cc/

Don't miss the demos!

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It's not (nearly!) the same but if you're interested in audio applications it's worth noting that I2S support was added to MicroPython recently - and will work on the TinyPICO.

https://github.com/micropython/micropython/pull/7183

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