(1) Scheme is dynamically typed, not statically, so some operations need to operate on objects whose properties are not known at compile time and which need to be constructed/wrapped. The same does not necessarily hold for a statically typed language.
(2) C is not really designed to be the target language of a compilation process. In particular, there's no portable access to stack frames, so any mechanism that inspects the stack (in this case, for precise garbage collection) needs to recreate the necessary machinery. If you target a representation that is actually designed for this purpose (such as LLVM), a lot of these problems go away. Likewise, C does not have native support for continuations, tail calls, or a number of other mechanisms that more sophisticated backends do support.
(3) The compiler does not need to generate human readable code; code generation that targets C is generally not concerned with producing minimal output, since the C optimizer will strip away superfluous stuff, so the focus is more on keeping the backend simple.