In C headers are not a problem. They are simple and effective. C++ made the mistake of putting implementations into headers for generic programming.
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C can have the same problem, it has inline functions.
Sure, you could also put a lot of complicated macros into headers. But in practice it is not a problem because this is not how you would do it in C. But in C++ you put the definition of a class into the header. Also templates basically have to exist in headers. So it is normal for C++ code to have a lot of code in headers.