> Are there other good ways of doing it?

I'm working on an ESP32 project right now, and Espressif provides shrink-wrapped toolchains for C/++ and Rust. The latter even comes with a little tool called 'espup' that cleanly installs their fork of Rust and LLVM (for Xtensa support) - I was able to compile and run a blinky in less than half an hour.

See https://docs.espressif.com/projects/rust/book/ - it also wasn't too hard for me to whip up a Nix Flake with the same toolchain, if that's your jam.