I didn't really understand forth till I tried implementing eforth in c. https://github.com/tehologist/forthkit Managed to write a compiler/interpreter that could understand enough forth to implement the entire system. Less than 500 lines and only uses stdio.h and compiles using TCC https://bellard.org/tcc/ That was so much fun I built a second one in under 300 lines of javascript for experimenting with canvas api in…
I know it's a lot of fun writing Forths and that's how most people tend to experience Forth, but I like to urge people to actually build applications on Forth. Understanding Forth by writing applications is probably the best way to get a feel for Forth.
Not an embedded device programmer, but mostly deals with frontend apps, and occasionally backend, so those are very relevant to me.
Or perhaps use "non-traditional" Forths like 8th (https://8th-dev.com) or Factor (https://factorcode.org)?