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I've always enjoyed coding, however, firmware just intrigues me more.
It is fun working on ECU's and their peripherals. The satisfaction I get from flashing my code onto something tangible and seeing it behave as I wrote/thought it to be is much more than I would than developing software.
Pro: It is viscerally satisfying to write code that makes real physical things happen. And for smaller systems it's empowering to work on a system you can almost keep fully paged into your brain.
Con: software discipline is shit. Lots of messy, poorly factored code with magic numbers and a "get it working and move on" mentality.
Pay wasn't materially different than a pure software role for me.