In most C code I've read, the lifetimes of pointers are not that complicated. They can't be that complicated, because complex lifetimes are too error prone without automated checking. That means those lifetimes can be easily expressed.
In that sense, a fairly direct C to Rust translation that doesn't try to generate idomatic Rust, but does accurately encode the lifetimes into the type system (ie. replacing pointers with references and Box) is already a huge safety win, since you gain automatic checking of the rules you were already implicitly following.
Here's an example of the kind of unidiomatic-but-safe Rust code I mean: https://play.rust-lang.org/?version=stable&mode=debug&editio...
If that can be automated (which seems increasingly plausible) then the need to do such a translation incrementally also goes away.
Making it idiomatic would be a case of recognising higher level patterns that couldn't be abstracted away in C, but can be turned into abstractions in Rust, and creating those abstractions. That is a more creative process that would require something like an LLM to drive, but that can be done incrementally, and provides a different kind of value from the basic safety checks.