Valid point, but I’d have to disagree with you here. My experience as to why RTOS are chosen for small embedded micros is either a) some hard real time requirement is a must, eg motor control. You’re right that a non real time OS won’t provide that, but a blocking super loop baremetal application with round-robin task queueing may not either, depending on what’s in the queue b) the source of baremetal super-loop applications gets too jumbled as requirements grow and/or they require some multi-tasking mechanism for performance reasons. RTOS provide a multi-tasking mechanism.