Comment by BruceIV

It's maybe not quite what you're looking for, but Cforall's polymorphic functions can eliminate nearly-all the unsafety of void-pointer-based polymorphism at little-to-no extra runtime cost (in fact, microbenchmarks in our as-yet-unpublished paper show speedup over void-pointer-based C in most cases due to more efficient generic type layout). As an example:

    forall(dtype T | sized(T))
    T* malloc() {  // in our stdlib
        return (T*)malloc(sizeof(T)); // calls libc malloc
    }

    int* i = malloc(); // infers T from return type