rc-update is provided by the sys-apps/openrc package. Why you don't have it is a mystery without knowing more about the image / setup. The image may be using systemd, but that doesn't necessarily rule out the openrc package being installed.
You should run: ps -p 1 -o command
. That will give you an indication of your init system. If it says systemd, whatever you are trying to do with rc-update
should probably be done with the systemctl
command instead.
If you are indeed using sysvinit / openrc, I suggest you update your openrc package by emerge -a openrc
That will restore the rc-update command.