(I think we're in agreement about fallible APIs being confusing and a footgun.)
https://doc.rust-lang.org/core/convert/enum.Infallible.html
Infallible is the type of errors which can't happen. It will some day be a synonym for ! (aka Never, the type of return and break and such things) but even today it's an Empty Type.
Empty Types are in some sense even smaller than the Zero Size Types like the empty tuple. The ZSTs have a value, it's just always the same value and so it needn't be stored anywhere. The Empty Types don't even have a value. So not only do you not need anywhere to store their value, you don't even emit code to handle this value. Generic error handling code evaporates at compile time for Infallible.
The other kind of infallibility is "the absence of an error encoding for a function means the function cannot fail". The Infallible type can't provide that, since a function have an infallible `Err` case but still arbitrarily decide to panic at runtime.
Edit: in other words, Rust's type system isn't strong enough to encode "full" infallibility. We'd need some kind of effect typing for that.
(I happen to think Rust can and ought to substantially improve the ergonomics of infallible API design, as well as provide more compiler support for avoiding fallible dependencies. But it's unreasonable to treat fallibility as a deficit, since it's explicitly outside of Rust's safety model.)