Typesafe generics via a better void* would make me super happy. There are definitely other quality of life improvements that could be added or reworked that wouldn't affect the simplicity too much.
I'd say Rust is the improvements to C that I've always been wanting: better type safety, real generics, first-class closures, and OOP without inheritance, only using structs to structure data, leaving code execution to just functions. It's what I hoped Go would become. (Take with grain of salt, I'm just starting to learn Rust.)
I really don't like the monomorphization approach to generics (I think that's the concept?), where the function/struct essentially gets duplicated for each type. It seems to mess with linkage, increase binary sizes, and increase compile times.
Other than that, Rust does seem to be an improvement and less... stressful to program in.
If you're doing dynamic dispatch then there is still code that's living for each specialization. Sort of solves linking because symbols don't have to be generated and compile times because you hand write the code.
To be fair, I'm only considering basic data structures and algorithms where you can get away with something like foo(void *ptr, size_t size). Maybe generics is too broad a term for that.