A lot of modern ECUs are "written" in modeling tools like Simulink and then compiled into auto-genned MISRA C which is never touched by humans, as well.

I'm certainly not trying to say automotive code is in a good place, but it's not the same as a 1+ million line hand-written C project like some people think when they see the numbers.

You’re right, but that code the generator pulls is all hand written by some poor shmucks at elektrobit or vector.

And personal experience, OEMs just love to make little tweaks to the auto generated code as well. Which is a massive pain in the ass

Thankfully, the problem is the adoption, as proven by Toyota's breaking system example.