In theory and Apples help guide, it works that way. In reality, you will bang your head against the wall in quite a lot of cases...Hmm, eSIM would be very easy if you are switching carriers. You just scan in the new carrier’s eSIM QR code.
You might mean switching phones. I believe it is easy to switch between iPhones.
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About eSIM on iPhone - Apple Support
Learn what an eSIM is, how to set up an eSIM on your iPhone, and how to transfer a physical SIM to an eSIM.support.apple.com
iPhones to Android or vice versa, that might be tricky. I don’t know if it’s possible, but maybe one can move it to physical SIM first. I asked the carrier who supports eSIM in my country at that carrier’s store, the lady said they can move eSIM to physical SIM back n forth quite easily on the spot, and she said they do it all the time for people, going back n forth. So I guess it depends on the carrier, how easy they actually want it for their own customers.
Having a real SIM in hands is easy. The esim handling is fully under control of your provider. A physical SIM is a device, that works as a device - phone independent. The esim needs a registering process controlled by your provider, which may gracefully grant you something - or refuse it...