The benefit of running Linux on a what used to be an MCU is that you're getting the best network stack, Bluetooth/Wi-Fi stack, one of the best device drivers (say for USB Host), stock and very well tested software, etc.

For your use case, you need raw performance and low-level control, and you have it. But for IoT device which is all about network more or less, there's usually no need to go low-level.

ESP32 for Wi-Fi handling uses wpa_supplicant port from Linux for example.

You can run a real, multi-user Linux with as low RAM as 8 MB. You get the benefit of running any Linux-supported programming languages (and combine any amount of them without extra effort, just on a real machine), established portable abstractions, established memory protection model, ease of debugging.

You can run both though. Both FreeRTOS and Linux simultaneously, where Linux is a FreeRTOS task on a dedicated core. That's how several Linux ports work, haven't checked if Espressif's works this way as well.