ESP32-H2 supports Thread: https://www.espressif.com/en/news/ESP32_H2

That's also the chip that Espressif has build it's reference implementation Thread Border Router around: https://openthread.io/guides/border-router/espressif-esp32

But you can also use ESP32s for Thread. If you have one that we support laying around, we have an installer website here that we use for testing https://nabucasa.github.io/matter-example-apps/