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I found HTDP a lot easier to read and work through because it works through more "practical" problems (like building a game) whereas SICP gets into some pretty heady math based problems. Also see this article that explains how it takes a different approach to teaching recursion. I found this approach very understandable and helpful.

https://parentheticallyspeaking.org/articles/how-not-to-teac...

Yes it does.

Scheme is not what makes SICP challenging. The sheer density of concepts is.

HtDP is a bit repetitive and gets a bit boring over time.

While some things overlap, I would recommend to first work through HtDP (or better through this online course https://www.youtube.com/channel/UC7dEjIUwSxSNcW4PqNRQW8w/abo...) and then work through SICP - especially if you try to learn programming by yourself.

I’ve not read HTDP, but I’ve been reading the JS SICP in dribs and drabs and find it very readable. (I’ve not read the original.)

i would rec HTDP, simply because DrRacket has some very cool tools for tracing recursive calls