Yes. But let's be honest, there aren't actually many use cases where you need the extra computation or ram of the esp32
Of course now that I'm looking around I see https://github.com/khoih-prog/ESP8266_PWM which seems promising (subdivides the second of two available hardware timers to allow PWM that isn't sensitive to other running code). So there's multiple workarounds (libraries, breakout boards) besides upgrading to an esp32.