A very significant amount of their effort, time, focus went into understanding precisely what was, and was not "Undefined Behavior" - the instant you did anything that was "undefined" anything that happened after that was fair game.
They also did zero dynamic memory allocation after starting an application. All memory was allocated on startup based on initial config settings.
My sense in watching that extraordinarily skilled team was that the logic and features they were building (on a very complex FHSS MAC) were secondary to convincing the compiler and hardware to do something that the specifications and definitions should happen. The great firmware developers were also pretty solid language lawyers.