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Isn't that a bit what hy (https://hylang.org/) tries to do ? AIUI it is a lisp interacting directly with the AST of Python, allowing seamless interop: Python modules can be used from hy and vice versa, everything is transparent.
I also recommend symex[1]. Although it is more “locked-in” to s-expressions than other solutions (which takes some getting used to at first), I find that for me this is exactly what makes movement feel much more intuitive and editing much more precise.
The one thing I don’t like is that symex depends on so many other plugins (especially Evil, which I am trying to swap out with the more lightweight meow), but this will apparently change soon. They are also working towards support for non-Lisp languages via tree-sitter, but I don’t know how well it works.
[1]: https://github.com/drym-org/symex.el