SBCL doesn't have anything that I'm aware off, neither does CCL.
I've seen mentioned of wrapping SBCL in a readline wrapper. There's a program that essentially gives readline behavior to anything that reads stdin, a readline interface. It may be name something clever like "readline", I've forgotten. I've never used it.
The terminal experience is weak on those Lisps simply because of the dominance emacs has in this space. Wrap SBCL or CCL in Slime and you get readline and more. There's simply little demand for a more functional CLI when the emacs/slime combo is so powerful and useful.
The burden for Slime and emacs (for this use case) is actually quite low. Both are pretty easy to install, modern emacs out of the box works with simple mouse gestures and arrow keys, so you don't need to be an emacs wonk to use it. And Slime has its own dropdown menu for most tasks.
Readline in CLISP is useful, it makes CLISP orders of magnitude more useable than raw SBCL. Cutting and pasting S-Exprs is just not a great experience for routine work, IMHO. One advantage of readline over the emacs buffers is that when you up-arrow, you get the form. In the buffer, if you up-arrow you go up one line. Mildly annoying when your last form spat out a 1000 lines. (That's why you search instead, but, nit noted.) With readline your REPL experience is more like the shells.
And that may all work with the readline wrapper, but the wrapper may well not be aware of S-exprs, so if you enter a multi line expression and up-arrow you may get just the last line of your last expression. Kind of worst of both world. But, I'm just supposing here, I've not used it.
I'm quite content with CLISP (which does not have a lot of modern activity on it), I just wish I could get it with SSL. This seems to be some grand challenge I have not found a top-of-first-page "SSL in Clisp" solution for on google.
Anyway, enough rambling.
Install emacs and slime.