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If you're looking for a simple example of implementing syntax highlighting, check out my plugin for Euphoria: https://github.com/OpenEuphoria/vscode-euphoria
I'm pretty sure rust-analyzer relies on the built-in Rust grammars for basic syntax highlighting. But it also provides Semantic Tokens, part of the LSP specification since version 3.16. This does give the language server itself the ability to provide syntax highlighting information, but it is normally used as a complement to TextMate grammars. See this sample for a simple example of semantic tokens (although the sample doesn't use LSP, just the vscode API). Since you mentioned rust-analyzer, have a look at how they register and handle semantic tokens for LSP.