You're absolutely wrong on a number of points. A SoC stands for "system on a chip", it refers to a single die (if you want to get pedantic, there are multi-die packages but this does not apply here) package, a "bare chip" if you will.
The ESP32 is a SoC. It's available in QFN packaging (Quad Flat Pak No Lead).
The ESP32 is available included with a number of "modules" (and of course devkits). These modules are designed for production use and it can be economical to do so. You clearly don't have the foggiest idea about these product lines so don't seem to be in a good position to comment on the economics.
Why would you need to sign an NDA? There are decaps readily available. Most ESP32 models have a separate die for the flash memory, but everything but the flash (that is uC, WiFi, BLE, and peripherals) is on a single die, which sounds like a SoC to me (The definition of SoC devices have always included devices with off-die RAM and Flash). These aren't "a bunch of components on printed circuit boards" as you initially claimed.
https://www.espressif.com/en/products/socs/esp32
The ESP32 is a SoC. It's available in QFN packaging (Quad Flat Pak No Lead).
The ESP32 is available included with a number of "modules" (and of course devkits). These modules are designed for production use and it can be economical to do so. You clearly don't have the foggiest idea about these product lines so don't seem to be in a good position to comment on the economics.
https://en.wikipedia.org/wiki/ESP32