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you might want to take a look at symex. it uses lispy under the hood (along with other structural editing packages), so its still going to pull a lot of undesired dependencies, but it might some some of the issues you have, albeit with a slightly different notion of modal i.e. modal as in vim's modes. i haven't jumped the shark yet cause it has an issue with evil's visual state, which is key for my workflow either, so i'm using lispy for now. though i must say i haven't encountered many of the issues you talk about, such as things breaking outside lisp modes and etc.
I have never used lispy, but I have used puni for a while now, and I'm pretty satisfied with it. I am not sure that it's exactly what you're looking for since it takes a more limited approacg, but it has a lot of the same features: slurping, barfing, raising, splicing etc.
Has anyone used symex.el without evil? I just learned it can be use with vanilla emacs (despite the 2nd word in its tagline). I also learned they have a tree-sitter branch which will expand its powers to many languages.
Yes, currently I am using a fork of lispy at https://github.com/daanturo/lispy for my personal config
I created vilpy, which is a fork that removes tons of stuff and dependencies from lispy. Note that keybindings are changed as well. It’s a personal project, I don’t usually announce it, but there it is if it fits your use case.