Historically neither of them made any microcontrollers. Arduino shipped Atmel and Raspberry Pi chips. Adafruit has boards with a variety of microcontrollers from various brands on them.
This is different now that Arduino is Qualcomm-owned and ships Qualcomm silicon, of course.
They also sell feather and a bunch of other vaguely similar stuff and have their own "maker" ecosystem (think CircuitPython). I like Adafruit, but they are in many senses competitors to Arduino.