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The example: https://github.com/espressif/esp-idf/tree/master/examples/openthread/ot_br "The example could also run on a single SoC which supports both Wi-Fi and Thread (e.g., ESP32-C6), but since there is only one RF path in ESP32-C6, which means Wi-Fi and Thread can't receive simultaneously, it has a significant impact on performance. Hence the two SoCs solution is recommended."
The esp-thread-br is a pretty good example of a border router. It is not that complicated. Here the esp32-h2 works as a openthread RCP and the esp32-c3 does the wifi. Even the board is pretty simple, it is just the H2 and C3 connected by UART and SPI. The C3 is the main processor and updates to the C3 may contain updates for the H2 in spiffs. I bought one of them and it works great!