ESP32 and Raspberry Pi Pico W: Which communication options to choose? Wi-Fi, UART, I²C, SPI?

Communication options between ESP32 and Raspberry Pi Pico W: .
1. Wi-Fi / MQTT (recommended) .

The ESP32 and Pi Pico W support Wi-Fi, so you can use the MQTT protocol (e.g. with the Mosquitto broker).

The Pico W sends commands (e.g. "turn sensor 1 on") to the ESP32.

The ESP32 publishes the status of the sensors and the Pico W reads them and displays them on the screen.

UART (serial communication) .

You can connect the ESP32 and the Pico W via the UART (TX/RX) ports.

The Pico W sends e.g. the command SET_SENSOR_1_ON, and ESP32 reads it and performs the corresponding action.

I²C / SPI .

You can use I²C, where the ESP32 is the 'master' and the Pico W is the 'slave' or vice versa.

SPI is faster, but requires more signal lines.
AI: What is the specific use case or application for which you want to use communication between ESP32 and Raspberry Pi Pico W? .
Is the control of devices, LEDs

Are you asking or stating?

How far apart are the ESP32 and the Pico?