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Maybe check out the Rust Raspberry Pi OS tutorial from the Embedded WG?
Oh, and you also probably want to check out smoltcp, a userspace/"no operating system required" networking stack that we often use in embedded rust.
Once you have a good understanding of basic networking then you might look to optimise some things. Such as using yoctoproject or buildroot to create minimal images that only contain the stuff you need. Though this is entirely optional to making a functional router with the Pi (or any system really).