Rust on ESP32 was great at one point. ~1 year ago there was a major HAL re-write and consolidation, and it went for me from working, to very broken, with most of the recent commits revamping it being done by someone who was neither an Espressif employee, nor someone who had written the original code bases. I haven't checked it since then.

I bring this up as for some workflows, Rust is one of the easiest "just works" embedded toolchains/workflows; my experience here was jarringly different, especially as it had been a good workflow prior. On this project, I ended up switching to ESP-Hosted (Official Espressif firmware to let the ESP be a radio co-processor), writing my own Rust lib to interface with it over SPI or UART, and using an STM32 as the primary MCU running my [rust] firmware.