Micro-ROS on Foxy or something else?

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I'm working on a new-start robot using Ubuntu 20.04 and ROS2 Foxy. There will be some microcontrollers (STM32) and I'd like to use MicroROS on them

I'm looking for the best way to do the above. It seems that MicroROS is still on "Dashing" and Dashing needs Ubunto 18 while Foxy is written for Ubuntu 20. So I can't install Dashing and Foxy both at the same time.

I'm looking for the best way to go.

1) I notice a "features/foxy" branch on the Micro ROS git does that work
well enough to use for development
and testing?

2) I could downgrade my development system to use Ubuntu 18 and Dashing but I think Foxy is enough of an improvment that I want to stay with it

3) I could find a good alternative to Micro ROS, perhaps inventing my own over the wire protocol

4) something else?

It seems the #3 is the best option