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This is empirically not true if you look at the usage of unsafe in pure Rust kernels. Yes, there is assembly needed, and some unsafe Rust code, but it's very possible to wrap up unsafe operations in safe APIs.

For example, the kernel repository for Redox (a written-in-Rust OS project) appears to have 242 usages of the unsafe keyword (including comments bc lazy), out of 18205 lines of Rust source.

It's actually not that much unsafe.

You can wrap most unsafe operations to be safe with proper checks, I've done it myself and it's much less than you would expect since a lot of the memory accesses can be made safe trivially.

I can't come up with a situation where C doesn't need inline assembly, while Rust does. Do you have some specific example on your mind?