Coming from C I don’t think you’ll find Rust too foreign, once you internalize how the ownership rules work. In my experience the formal rules of Rust overlap a lot with behaviors that are good practice in C/C++ anyway, but there are some complicated concepts that you need to wrap your head around before expressing them in Rust becomes second nature.

Whether it would suit you, depends if you can learn to like Rust's approach of moving more work to the type system. In Rust you do certain things the Rust's way, period. Programmers used to C being unopinionated about everything find that objectionable.

Depends on platform for embedded. It not very pleasant to write rust if you have to think about binary size. For systems code - sure, use rust.