Absolutely. Modern MCUs are phenomenal. More powerful than mid '90s top-end PCs. Add some external SDRAM and storage, and they have more and faster memory and storage as well. C++ is perfectly good. Better than all the nasty C macros in the vendor HALs, if you replace that nastiness with some type-safe enums and inline functions. There's plenty of capacity for running Python or Lua as embedded scripting languages even on smaller variants, both of which wrap C++ nicely. I'm fairly new to the embedded world, but so far it's been mostly a pleasure to write code for a variety of TI, ST and Nordic MCUs; some with C, some with C++.

I do see why people like C for embedded use; when it comes to hardware interaction you have complete visibility into all of the interactions with special registers. Looking through the disassembly when debugging is nice and straightforward. But C++ does this and more, so long as you don't go overboard with unnecessary complexity. It's fine with a bit of self-discipline, and all that extra bounds checking and such is of value.