Rust async code can be a bit challenging until you get it, but I can't think of a way to make it that much simpler without sacrificing the whole "systems programming language" concept or support for embedded. The only good alternative is Go-like fibers and that requires a fat runtime.
We use both Rust and Go at ZeroTier and find that they both have their own niches. (We are slowly moving ZeroTier from C++ to Rust to use a more modern and more importantly safe language.)
We are using Rust for the ZeroTier network hypervisor and core system service though because that's systems-level software that is performance-critical, needs to fit on small-ish devices, and needs deterministic performance among other things.
They're really different languages for different niches. Rust is C++ 2.0. Go is fast compiled Python with a cleaner design. (Python is the best niche comparison I've found for Go.)
Could you link where?
FWIW, there's an effort to do exactly that, but because it will require language level changes and it is just on the drawing board phase, it will likely be a while before it can be widely used.
The "optionality" of `async` while sharing code also applies for `const` and mutability (why do we need `Deref` and `DerefMut`?). Finding a solution that can work for these three (and maybe others?) parts of the language will be a welcome improvement.