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Google says replacing C/C++ in firmware with Rust is easy
(www.theregister.com)
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I've only barely scratched the surface there myself but, I absolutely do think so. For several reasons. First, ESP32 is one of the few series of MCUs that support the Rust stdlib. And learning what that entails for Rust is extremely helpful in conceptualizing build targets. Second, MCUs are a very constrained target for software/firmware. Getting comfortable there will likely improve your code efficiency in other code platforms as you are more likely to think about resource usage earlier. And third, there's some pretty excellent docs and tutorials.
For tutorials, my recommended starting point is with the official docs/books themselves: