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If you haven't yet, check out Scott Mabin's blog. He's working on ESP32 & Rust: https://mabez.dev/blog/posts/esp-rust-18-10-2021/

LLVM (Rusts' backend) doesn't support the Xtensa instruction set, which makes this so complicated. The newer ESP32-C{3,6} instead use a RISC-V instruction set which is already supported by Rust, so its much easier to set up.

So far I managed to get basic serial coms working, but am waiting for some HAL so I can build a blinky LED.

No, I started using Nim on esp32's due to the Rust/llvm toolchain issue and found it quite nice. I wrapped much of the esp-idf in a project called Nesper. Though I keep an eye on Rust in the embedded world. Rust type system does seem to require a lot more work creating shared hardware api's.