You will probably be on your own unfortunately regarding hardware support. Even when libraries exist, they are often not worth the fork/PR/modification process to accommodate your use case. I hope you like datasheets... This sounds rough, but I will highlight two upsides:

#1: You benefit from the nice tooling and language of rust #2: You are forced to learn how to use peripherals at a lower level than would otherwise be required. You will become adept at reading datasheets, and interacting with hardware, because you will write to registers directly while building your own abstractions.

The easy choice is to use C or C++.