I really want to get ve Hubris a try on a proper project (https://hubris.oxide.computer/reference/).

As an architectural approach it aligns closely with what I am going for in embedded land, but in C with more pain. And is not dissimilar to what you do in Erlang/Elixir in hosted land.

Embassy looks to be a good choice in more memory constrained situations where you can't afford multiple stacks.