rxvt used to be my go-to terminal, but it was only fast in the era where we had actual 2D hardware. That era ended, oh, like 15 years ago? Ish? On the AMD side, Radeon GCN 1.0 (think 7970) came out 12 years ago, and that was their first card that entirely removed 2D hardware (which means all 2D ops are handled by optimized shaders; in Linux, that'd be handled by glamor); but wasn't the first gen of AMD that was in the process of removing 2D, and nvidia was about a gen behind every step on that.
Between then and now, I ended up trying every emulator. The libvte ones tended to be slow, buggy, and missing features (although, nowadays, it's sorta cleaned up its act, but not entirely). The terminal community has been able to write three emulators that make for good urxvt replacements: alacritty, wezterm, and kitty.
Foot seems like its trying to join those three, but it's lack of other-OS support (since it's focusing on being, purely, the best possible Wayland terminal) kind of holds it back (unless you're only using Linux, then obviously this doesn't apply to you).