From friends that work or have worked with both legacy codebases and embedded systems I can say this: those who worked or still work with embedded systems love it, because they are working on a single thing only.
Those who work with the legacy codebase, it really depends of the type of legacy infrastructure.
If it's a mad chaos, they prefer not to discuss it with me because they get anxious knowing they will work on that monstrosity the very next day and don't want to ruin their evening lol!
Else if it's rather clean comparing its legacy status, they don't mind, but worry about their future; they don't want to stay outdated from a tech point of view, in case they need to look for a job.
Those who work with the legacy codebase, it really depends of the type of legacy infrastructure.
If it's a mad chaos, they prefer not to discuss it with me because they get anxious knowing they will work on that monstrosity the very next day and don't want to ruin their evening lol!
Else if it's rather clean comparing its legacy status, they don't mind, but worry about their future; they don't want to stay outdated from a tech point of view, in case they need to look for a job.