> ESP32-S3 may be the worse model to run Rust on due to the XTensa cores that makes the toolchain unnecessarily complicated.
Indeed. ESP32-S31 appears to target exactly this concern in the popular "S3" segment. It's basically a updated S3, with faster and newer wireless and memory, and it adopts a pair of RISC-V cores in place of the Xtensa cores.
My brain broke a little when I read this. Today I learned the C stands for Core, and the S stands for Speed, or Strength, or maybe Superior. My working assumption that C meant RISC-V and S meant Xtensa was incorrect.