ESP32-S2 has both WiFi and USB. It's essentially (the classic) ESP32 cut to a single core, 320KB RAM, and with Bluetooth removed; however it does include USB.

There's also ESP32-S3 which is dual core, with more RAM, USB, and Bluetooth, but I'm not sure any boards are available yet.

All of that not to be confused with ESP32-C3 which is a single-core RISC-V without USB.

And yes, their naming is confusing.

edit: Adafruit has some boards with ESP32-S2. If you get a random board from elsewhere, there are good chances it will come with a USB-to-serial chip, which you don't want if you need to use native USB. So check.

> ESP32-S2 has both WiFi and USB

USB 1.0/1.1 right? Not 2.0?

The "Arduino Nano RP2040 Connect" is an RP4040 board slated to be coming soon that will provide WiFi and Bluetooth.

I expect we'll see more RP2040 devboards & SOMs coming soon that fill the connectivity niche.