Torque is more confusing imo. It’s torque that makes you go, not power.
Each bang in the engine produces a set amount of force. More force = more torque. But more bangs per second = more power. But then there’s a gearbox. So more power at the engine transfers to torque at the wheel depending on what gear ratio you’ve got.
Two cars at the same road speed, one with a diesel engine in a higher gear and one with a petrol engine at higher speed and lower gear, could move forward at the same speed when you floor the pedal.
The only difference is how you operate the gears. The reason torquey engines feel nice is that you don’t have to drop down lots of gears and have the sensation of having to work the engine to get going.
A petrol and diesel engine with the same bhp connected to appropriately geared CVTs would be indistinguisable to drive.