It is the same tasks but not the same processes.
Nowadays, I would say Pipelines are responsible for Continuous Integration, and Release Pipelines are more about Continuous Delivery. When all deployment features will arrive to YAML pipelines it will not be the case.
As you said, Azure Release Pipelines can use and automatically trigger on result of YAML or classic pipelines and you can use different agents. Agent for YAML or classic pipelines need all tools to compile, test and assembly the code when Agent for Release, need the tools for deployment and correct access rights to target environment.
In Release pipelines you can organize your deployments by environments/stages more easily, add steps which could be launched separately with out need to relaunch the whole pipeline (like application recovery or switch to production).
The workflow of Release Pipelines is more visual than in YAML or Classic Build pipelines.
From my experience the main difference is in Approvals and Gates features, for now.
You can try to implement the whole CI/CD process just on YAML pipelines but it could be much easier to use both Azure Pipelines capabilities to separate the logic of CI and CD, at the moment, as deployment features of YAML pipelines are still in development.