It is funny he doesn't mention OCaml (because of his work with it). Yes OCaml has a GC but from what I recall it has a rather low overhead GC (in terms of latency. I need to find source but I remember it being impressive compared to others). I believe there was some attempts to incorporate some real time libraries but it was a long time ago.

Depending on what you define as system programming OCaml also has the whole bare metal Mirage OS [1] thing as well.

And of course OCaml is a pretty darn safe language (albeit its threading/concurrency libraries are fragmented so the safety is more type safety than concurrency).

[1]: https://mirage.io/