I'm not sure I'd want to limit the selection of languages that much. Depending on the project and how much language risk you can manage (as opposed to security risk), there also is D, Odin, and Zig. And probably a bunch more I'm unfamiliar with.
Most of what gives high-reliability or high-assurance code that label is the process rather than the language. In colloquial terms it rigorously disallows sloppy code, which devs will happily write in any language given the chance. As much as C is probably the least safe systems language, and probably my last choice these days if I had to choose one, more high-assurance code has probably been written in C than any ot…
This is what I've heard too. I have a friend who works in aerospace programming, and the type of C he writes is very different. No dynamic memory, no pointer math, constant CRC checks, and other things. Plus the tooling he has access to also assists with hitting realtime deadlines, JTAG debugging, and other things.