Dev boards, or modules to solder onto a circuit board? If you are printing your own board, then yes, the ESP32 is way cheaper. If you are just making a one-off, though, I'm not sure where it wins except in power consumption.
this are dev boards. Just look here for example: https://www.aliexpress.com/item/32656775273.html, the nodemcu dev with USB for 3,55. You can even get a fully working board with a webcam for under 5 bucks (though that does need a UART bridge, no usb included). Unmounted esp32 chips are going for as low as 2,10