I think the issue here is being new to Rust. I moved to embedded Rust after using C and it's a breath of fresh air to have the type system catch so many things for me. But I was already proficient in Rust before I made that move.
The RP2040 in particular is pretty great though, being able to flash firmware with `cargo run--release` is amazing, and I can use tools like probe-rs and defmt to help debug my firmware.
My only "complaint" at the moment is a bit of immaturity in the USB side of things but I get it, USB is a pretty complicated stack and it'll just take time for things to mature.
For reference, here's some keyboard firmware I wrote for the RP2040. To me it feels reasonably high level and concise for something that drives a real world USB device (as simple a keyboards may be)