Embassy and async Rust are probably the best things that have happened to the embedded world in the past decade!

C RTOSes are conceptually nice, but such as pain to use in the real world, a lean framework like embassy is the natural evolution.

The best thing is that embassy can actually be considered as a real-time "OS" (you can read more here: https://kerkour.com/introduction-to-embedded-development-wit...).