Related article:
https://zeus.ugent.be/blog/23-24/open-source-esp32-wifi-mac/
By being compatible, users get all the benefits of the existing corpus of help on the internet. And being compatible make the cost to entry lower. If somebody wants to make a very small modification of the MAC layer, they can do it as with the closed source and just go behind the curtain and file a little the thing they want to hack, without the cognitive load of learning a new API.