I look at it this way: If you want a remote device that measures or controls just one or two things, but does very little if any calculations - use a esp8366/32 (or anything with low power requirements). If you need to process data (video stream), or do other calculations, potentially while controlling many different sensors/things - you'll likely want a raspberrpi/similar
If you can come up with a reasonably secure way to get an ESP8862 to unlock your door that I can't sniff from across the street with a pringles can hooked up to a wifi dongle running in promiscuous mode (perhaps with a pile of off board AWS to crack your WPA key), I'd be interested in checking it out.
I'm not saying it can't be done. But for _me_, I'd prefer to piggy back on all the battle tested tools available in linux like OpenSSL rather that pretend I can write bulletproof crypto code for the constrained resources available on the esp. And I'd prefer to run my unlock signals over wires rather than over a radio. I'm cautious like that.
There's definitely something to be said for not having the surface area of some hobbiest-grade linux distro on your door locks also. I'd like to perform a "security update" on my door locks just about never.
Anyway, the esp32 has a tls stack which is adequate if you want to go that way. Lately there are a handful of boards on the market that pair the esp32 with a PoE chip that are becoming my goto for little "iot" projects.
Obligatory xkcd:
