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Ulisp is cute but (when I looked at it a while back) way too limited and inefficient. My favourite Lisp of this type is Hedgehog, which should run very nicely on a Pi Pico. Its main drawback is it has no REPL, but instead uses a separate byte-compiler that for some reason is written in C.
https://github.com/sbp/hedgehog
uLisp always seemed interesting to me, but I've never managed to have a good place to use it.
Lately I've been wanting to try running Spry [1] on an mcu. Or perhaps write a lisp-like language using msgpack as its datatype.
1: https://github.com/gokr/spry