In this case, it would be a RTOS or user-mode Linux, plus a custom runtime or target for Rust apps, and IPC/middleware to connect the two. Way easier to build. POSIX comes later if effort comes along.
Im glad your doing it gradually with intermediates. That will let it benefit spinoff projects or even products hopefully. Plus keep you from getting overloaded.
I also like that RISC-V is in your long-term vision. Keeping that in mind early will help avoid architectural mistakes early on. Id say use the ISA closest to it in meantime so little change is necessary.
Far as overall scheme, I'll email you some reference work if your interested in prior work on safe runtimes, split apps, high-security dev techniques, and so on. Might be able to integrate that into idiomatic Rust. That's your call though.