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I'll be very happy for my industrial projects if BCM2711 come with CAN or RS485 built-in, but for the moment, there is nothing planned by Raspberry...
A low speed 115200 baud link does the job, with applicative CRC on both side to be sure there is no corruption.
My method to test communication robustness: I inject pulses through a capacitor directly on the UART lines. I did it on this project, no problem. The four bytes CRC32 prevents random EM noise errors.
STM32 telemetry code is here:
https://github.com/makers-for-life/makair-firmware/blob/mast...
Pierre, author of the article.