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ESP32 only supports up to 4MB of PSRAM while a single RPi HQ Camera still is 18MB.

Doesn't the camera have it's own framebuffer that the MCU can stream? I don't see why the MCU would have to hold the whole frame in memory.

At least with ESP32-CAM api, the instruction to capture an image returns a pointer to image data in psram.

I would imagine a Pi Zero is more efficient at converting that raw image data to some compressed file format too.

ESP23-P4 will support up to 32mb in PSRAM, MIPI, and hardware h.264 encoding. It'll be a great chip for video.

The library comes with ESP32 use DMA for image stream. Don't think you can workaround that, unless you write your own driver