Almost all, if not all, firmware is in C.
Also, not to mention every operating system.
I really don't know where the "bugs are horrible" argument grounds itself on. I've worked on large C, rust, go, python and even Haskell codebases. Everyone of them had their share of super corner case bugs.
The systems which use the simplest concepts and tools tend to have the least bugs cause they are more readable and hence fixable.