Is Forth still being used in industry other than for legacy systems? (genuine question)
As early as 15 years ago a number of our embedded products using 8 bit processors were programmed in assembler and/or Forth. This quickly became challenging in terms of product maintenance (assembler) and finding qualified experienced developers (assembler and Forth). I found myself in the difficult position, as CEO, of not being able to remove these responsibilities from my desk. And so we ported all of our code from assembler/Forth to C. In that process we improved nearly every technical and business metric. The port took months but it was well worth it.
I still think every programmer needs to start with assembler wrangling processor architecture internals "by hand", move on to Forth (or a TIL), then Lisp and C. I am sometimes in horror to come across programmers for whom every solution requires bloated, inefficient object oriented code.
I've done robotics programming in Forth. I do not expect to use it again.
But these days, embedded full Linux systems are just too cheap to not be the default option when you want to develop on the device itself.
I think there's now Rust for the Arduino Due, which is ARM-based.
Among the reasons: no interest in bytecode (UEFI now has EBC), no ACPI support (IEEE1275 predates ACPI by a decade, Intel didn't bother), protecting Intel's "Independent" BIOS Vendors from having to compete in an existing market (there were several OpenFirmware vendors).
Most OF implementations are now open source, we collected them at www.openfirmware.info.