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Somebody else brought it up in a separate comment, but because you specifically ask about the Raspberry, I'll mention EndBASIC (https://www.endbasic.dev/) here again :)
Supporting this platform has been a primary goal of mine, and in fact, one of the features (GPIO) only works on the Raspberry Pi today :) But there is a long road ahead. My vision is to create a minimal Linux image that boots straight into EndBASIC, and extend EndBASIC to give you more control of the Pi's hardware. The idea is to truly mimic the old C64 experience, but leveraging the power of modern hardware / infrastructure.
There are a bunch of BASIC interpreters out there, my own isn't so complex or thorough, but I definitely had fun writing it:
https://github.com/skx/gobasic/
My own vision was to reproduce something akin to the ZX Spectrum, rather than the more advanced Microsoft BASIC.