Full disclosure, Python also runs fine on these microcontrollers, but I have pretty easily run out of RAM on every complicated Python project I've done targeting a microcontroller. It's nice to see if some sensor works or whatever, but for production, Go is a nice sweet spot.
It is true that it’s not something you just get for free, you have to avoid certain techniques, etc. But rust can fit just fine.
We have to care about binary size, but we also don't have to stress about it. There are some things we could do to make sizes get even smaller, but there's no reason to go to that effort at the moment. We have the luxury of being on full 32-bit environments, so while there isn't a ton of space by say, desktop or phone standards, it's also a bit bigger than something like a PIC.
Lots of folks also seem to get the impression that Rust binary sizes are bigger than they are because they use ls instead of size; we care deeply about debugging, and so the individual tasks are built with debug information. ls reports that rcc driver is 181kb, but that's not representative of what actually ends up being flashed. You can see a similar effect with desktop Rust software by running strip on the binaries, you'll often save a ton of size from doing that.