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Google says replacing C/C++ in firmware with Rust is easy
(www.theregister.com)
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I/O and logic for an MCU. The hardest bits, TBH, are already done with the ESP32 series MCUs, thanks to the efforts to get the Rust stdlib and HAL supported. So, the experience, code-wise, isn't much different from Arduino or Micro/CircuitPython. Mostly, it's down to syntax, flashing toolchain, and logic.
So, the experience is likely to be similar to development on with a full-fledged CPU/SoC target. I'd suggest that the experience of developing for an MCU, regardless of language, is likely to put one up against constraints that will make them think more about resource management considerations when approaching other target platforms.