I know you're not asking for recommendations, but Lisp, particularly SBCL, really seems to check all your boxes. I say this as someone who generally reaches for Scheme when it comes to Lisps too.

There are a few game engines[0] for CL, but most of them seem to be catered specifically to 2D games.

[0] https://github.com/CodyReichert/awesome-cl?tab=readme-ov-fil...