The ESP32 modules are available with or without the antenna built in, and the chips have an on-chip ethernet MAC peripheral, display support via on-chip LCD, I2C, or SPI peripherals, and camera via the on-chip CAM peripheral.
Not all versions have all these features. You can pick one based on the features you need.
> From Wifi/Bluetooth Antenna, LI Battery Controller, Ethernet whatever, Display or Camera Connector - You choose.
None of those are in-chip peripherals. Besides, the RP2040 comes with a lot of peripherals too. Not as much as an ESP32 by a wide margin, but still.