My team works on Pigweed [1], which offers a more terminal based approach to embedded development. Instead of working with Make, we use GN [3] as our primary build system (though we also support CMake, and plan to support Bazel).
The "pw watch" command is an integrated watcher that can detect file changes from e.g. vim, then re-build, re-flash your device, and re-run tests according to the dependency graph. I use 2 or 3 STM32F429i Discovery boards to run tests in parallel.
If you're curious, we're giving a workshop [4] at Hackaday's Remoticon; feel free to join or watch the recording after it's up.