Espressif has a huge advantage in lead times over ST recently. I migrated a few projects over because ST couldn't or wouldn't give us supply in under a month when you could buy ESP chips and have them on your doorstep practically overnight.
I don't think they do IP theft from STM32 (if it's even possible at current node size). They have very thorough datasheets different from STM32 ones and their own SDK with unique code (although it seems to be inspired by STM32 libraries, but absolutely not theft).