Not claiming to be an expert in C, but I paid my share of blood and tears with it, and all I can say is that it's worth the effort to learn Rust for the huge guarantees the language gives you in the same contexts as C.
If you're interested in baremetal, there are a number of tutorials out there, all focused on different things. I really love the TockOS tutorials, they are really awesome for getting across some of the different benefits at different levels: https://github.com/tock/tock/tree/master/doc/courses/rustcon...
And then more raw OS stuff: https://os.phil-opp.com/