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This actually threw me off and made me go on a wild goose chase. So the packages compiled by setting --target to viz xtensa-esp32s3-espidf, compiles rust code for the target arch but not the dependencies built using C via the cc crate.
So, at the linker stage I was facing issues with mismatch arch for rlib.
Managed to workaround this by explicitly setting env var export CROSS_COMPILE="xtensa-esp32s3-elf", but IMO this should be the default behavior, use the target arch's compiler rather than the host's compiler.
To further make this seamless, it should use the resolved binary name from PATH var, and if not found have some sort of autodiscovery (like how Windows MSVC is done), failing which throw some sort of error message that the required compiler was not found, rather than using a wrong compiler