

Yes, the 2040 is a microcontroller.
RP 2040: https://www.seeedstudio.com/XIAO-RP2040-v1-0-p-5026.html
RP 2350: https://www.seeedstudio.com/Seeed-XIAO-RP2350-p-5944.html
Nordic Semi nRF52840, Bluetooth only board: https://www.seeedstudio.com/Seeed-XIAO-BLE-nRF52840-p-5201.html
There are a few others by this manufacturer of different chips, none quite as fast as the ESPs though:
https://wiki.seeedstudio.com/SeeedStudio_XIAO_Series_Introduction/
I’m only linking the Seeed ones because they’re high quality. They’re also the only ones I’ve found this size with built in battery chargers.
Hope that helps. Oh and as a bonus, here’s someone using the RP2040 and an OLED to turn a lego brick into a Doom machine:


Damn, I remember that video, blast from the past… Also 29C? Shit, my gpu runs at 80 a lot of the time.