Yes, rook is great for bare metal and would enable dynamically provisioned persistent volumes.

Rook runs a ceph cluster inside your kubernetes cluster to provide the storage. The downside is this consumes cpu/memory (and obviously storage) resources to run, whereas on AWS, EBS is integrated into the platform so it does not "run" inside your cluster (other than the aws cloud-provider that provides the integration).

If you wanted to run the same storage backend on bare metal and AWS, rook would enable that.