It's probably fine. I started using Go (tinygo) for microcontroller projects a few years ago and haven't looked back. If people can make Go work, I'm sure Rust is fine.
Tried. No wifi support for my board (esp-eye) no I2S for audio. Very limited. Too bad because I really enjoy working in Go compared to micropython.
Interesting. I did Wifi once but used an RP2040 with some sort of ESP32 flahshed with some firmware designed to let Android sketches use Wifi. (The actual wifi was done by another ESP32. BOM efficient? Nope. Easy? Yup. If $1 per part ever makes a difference to me, I guess I'll just use C.)