Here’s the Deal
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When comparing Orange Pi Zero vs esp32, the Slant community recommends Orange Pi Zero for most people. In the question“What are the best single-board computers?” Orange Pi Zero is ranked 35th while esp32 is ranked 45th.
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Pros
Pro Small form factor
Pro Good price
Pro Has both Ethernet and WiFi card
Pro Many variants available
Many different variants are available depending how good you are at soldering or how small it needs to be.
Pro Very small
Can fit inside small devices.
Pro Very cheap
Without case can be below $5.
Pro Has ultra-low power mode
Pro Has bluetooth and wifi modules
Cons
Con Gets relatively hot
No HDMI Video output.
Con Built-in WiFi is rather slow
Con Some variants require soldering
Not all variants include easily plugable pins. Usually only the more expensive variants include these.