Does s7 allows for REPL-driven programming? That's the only thing missing from the Lua VM that can't be implemented as a library. An embedded Lisp that supports a true REPL would be a god-send.
Not sure how these facilities compare to Slime + Common Lisp.
[0]: https://ccrma.stanford.edu/software/snd/snd/s7.html#repl
I might be misunderstanding your requirements; "embedded" can mean so many things these days. But what do you think of ECL (https://ecl.common-lisp.dev/main.html)?
I don't know if ECL is disciplined enough to actually constraint itself in all these ways to be a good embedded citizen.