And you can see plenty of discussions where people claim this but there are plenty of counters from others. I personally think you'd be hard pressed to come up

And you can see plenty of discussions where people claim this but there are plenty of counters from others. I personally think you'd be hard pressed to come up with a situation which an RTOS could do and embassy-rs's approach would be fundamentally incapable of (at least on reasonably modern microcontrollers: as I've been banging on about in other comments: an NVIC is a really useful piece of hardware).