The key here is the "PIO" which you won't find on a Teensy. It lets you do extreme "bit banging" tricks including generating video. People have even implemented Ethernet on it. I've used it for some custom serial protocols ("Weigand") used by alarm panels.
The Pico PIO has an instruction set and can be programmed.
You write PIO assembly that runs autonomously on a state machine, with explicit timing (e.g., out, in, set, mov, jmp, wait) and cycle‑accurate interfaces. The CPU communicates via small FIFOs, and interrupts are optional; the PIO can be “fire‑and‑forget” for many protocols.
