There are not just "lisp machines", but interactive Lisp implementations, coming with an IDE. The first of those were in the 60s, using text/terminal interfaces. The first Lisp already had interactive interface and end 60s "BBN Lisp" had a full-blown resident development environment, also using "images". In the 70s Smalltalk was developed (providing images, garbage collection, ... like Lisp before), then also on dedicated machines - at the same time frame Lisp was put onto these machines. BBN Lisp was then morphed Interlisp-D by Xerox, which was "Interlisp" ported to the Xerox D machines, running on the metal with a GUI added.
The Interlisp timeline gives an idea, that a lot of research into interactive development took place in the 60s and 70s, using it.
https://interlisp.org/history/timeline/
GNU Emacs is based on a Lisp system, but the focus was (is) to build an user-programmable, extensible editor, not to resemble a "lisp machine", which was a computer with an operating-system.