I can really recommend getting a micro:bit board and following the discovery book [1].
There are a few other books in the embedded Rust bookshelf [2].
Otherwise, I wrote a bunch of sensor drivers and simple examples for several boards: [3]
[1]: https://docs.rust-embedded.org/discovery/index.html
I might also play with ARM a bit, I have a few black pills that hopefully will be easier to get started with, now that I think about it.
I can envision a future where clean abstractions are written that can provide an Arduino-like experience in Rust, but we are still a long way from there.
You are making me want to write some Rust AVR tutorials. Once we get the latest compiler building AVR code again, that will be my next focus.