Starlink and Zoleo are in entirely different categories/classes of devices. One is a GPS/Glonass device with satellite messaging and emergency/rescue functionality + mobile interface, whilst Starlink is a fulltime high-speed data connection made possible by a bulky permanent installation. In contrast, Zoleo is small, rugged/waterproof and is used by an entirely different type of audience (in comparison to Starlink).
Note: Starlink also uses a different constellation provider. The closest competitor for Zoleo is Garmin that uses the same constellation provider and provide exactly the same functionality as Zoleo with a few minor differences and wide device selection/range.
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