In the recent episode of The Amp Hour, Chris Gammell chatted with James Adams, Liam Fraser and Luke Wren of Raspberry Pi Trading who make up part of the Raspberry Pi Hardware Team. They discussed how the Pico came about and what separates it from other similar dev boards. They did answer whether the RP2040 is a Microcontroller or a Microprocessor as well as cover some of the software available and soon to come. They also cover other Raspberry Pi topics.
It is very interesting.