Given that Espressif was one of the few companies not to fail during the supply chain crunch I wouldn't hesitate to use them. Unlike the Raspberry PI Foundation.
The pico (rp2040) never really had issues and it's more of a direct competitor to the esp32 than a standard pi.
True, but at this point their reputation is kind of burned for me. I'm not confident that if they have challenges come up with rp2040 production that they will be able to compensate quickly.
This is mostly due to Espressif modules being less demanded.