Compared to ESP8266, there's generally pretty good ESP32 support for Rust, but you'll likely need to use in your C++ toolchain if you want to use the standard library. no-std in Rust for ESP32 isn't terrible in my experience, though, just not as fleshed out - particularly for hooking into components like wifi/networking and probably a camera as well.
Like the other commenter said, there's plenty of support for SIMD and asm in Rust.
You might ask around on a Rust embedded or Rust ESP32 chatroom before making the dive.
Haha yes, I misphrased a bit but that's what I meant when I said you'll need to use C++ to use the stdlib. It's not quite pure embedded Rust but yes it does work.