First, you sometimes
do want to call exit deep within a program. That is the situation I am addressing, not normal operation. Of course you want to always free unused memory and prevent memory leaks. I am quite familiar with the importance of memory hygiene, and have even written documents admonishing students to use valgrind before coming to me for help:
http://courses.cs.vt.edu/~cs3214/fall2010/projects/esh3-debu...Second, please re-read my last sentence. I specifically addressed things that the kernel does not reclaim. This would also include System V shared memory segments and the like. You must manage these yourself, and it is always messy. Typically, rather than calling exit directly, you're going to invoke a routine that knows about all such resources, frees them, then calls exit. But you still don't need to unwind your stack back to main.
Third, the kernel always gets back all of its memory that was granted through conventional means. That's what operating systems do. I think you have a fundamental misunderstanding of what malloc is, and where it lives. Malloc is a user-level routine that lives inside of your process. When you call malloc, it is granting you memory that you already own. Malloc is just a convenience routine that sits between you and the operating system. When you say malloc(4), it does not go off and request 4 bytes from the operating system. It looks into large chunks of memory the operating system granted to it, and gives you some, updating its data structures along the way. If all of its chunks of memory are currently allocated, then it will go ask the operating system for memory - on a Unix machine, typically through a call to brk to mmap. But when it calls brk or mmap, it will request a large amount of memory, say a few megabytes. Then, from that large chunk, it will carve out 4 bytes for you to use.
(This is why off-by-one errors are so pernicious in C: the chances are very good that you actually do own that memory, so the kernel will happily allow you to access the value.)
Now, even if you are a good citizen and return all memory to malloc, the operating system still has to reclaim tons of memory from you. Which memory? Well, your stacks and such, but also all of that memory that malloc still controls. When you free memory back to malloc, malloc is very unlikely to then give it back to the operating system. So all programs, at exit, will have memory that they own that the kernel will need to reclaim.