I started as an iOS dev 7 years ago, and on the job I've gotten back-end Java experience, learned everything I know about SQL, and gotten my hands dirty in firmware development, and learned a ton about EE in general. We design all our hardware in house, and between the 3D printers we use for building cases and housings, and my boss being an EE, we've done the cycle of:
Customer idea -> Prototype Board -> Firmware Development -> Customer Testing in the field
in under 3 weeks. It obviously comes with the occasional stress, but honestly when the alternative in my area is writing Insurance or Healthcare software, I'll take this any day. We're a mature company that has startup tendencies and a startup size. I'm not afraid to make mistakes, I'm not afraid to suggest new idea/technologies, and we're constantly evolving. We rarely say no (within reason), and we'll always give an idea a shot.
Maybe you need to find situation like mine? I know others exist, just dig into a niche, especially ones that are in an industry where others aren't using technology to the fullest potential.