One of, in my opinion, the largest problem with Rust is that they sought to solve two problems: 1. Memory / thread safety 2. They didn't like C/C++ And often times it feels like there is more focus on problem two than problem one. Quite a bit of idiomatic and safe (yes that does exist) C++ doesn't "translate" well to Rust without large amounts of rearchitecting. I'd focus more on converting C/C++ to languages nearing…
C++ and C# share a letter only. They operate in entirely different domains. You can certainly try to write PLC logic or a an IMU Sensor in C#, but that's probably not going to be a fun task.
Is C# perfect for every task, no. But it's probably suitable for most of the tasks that DARPA is targeting to support. The reality is that low-level languages were used in the past because generally our computers were less efficient, and the higher-level languages didn't exist. Most things today written in C++ would probably be written in a higher-level language if designed today.
Infact, I know of a specific case where a vendor is currently in hot water because a GUI tool running on a standard windows machine is not memory safe when in this case some agencies think it should be. This is probably similar to the vast majority of C++ code DARPA is concerned with.