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Is implementing the same peripheral register API really IP theft?

No, this was my remark about being compatible.

Espressif is Chinese company, just like gigadevices.

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).

Nobody said that espressif steals IP from ST.

I don't think expressif steals from ST. I m quite sure GD steals from ST (source: ST themselves, see answer from ST in https://www.th3dstudio.com/2021/08/03/gd32-cpu-license-issue...)

If they didn't copy the peripheral blocks, then all they did was implement the ARM IP just like ST Micro did in a way to be pin to pin compatible with the STM32 chips. Happy to learn otherwise. I wouldn't put them in a real product for many reasons but this is not one of them.