Max-Gerd Retzlaff has successfully ported uLisp to the M5Stack, a modular ESP32-based microcontroller, and combined with the M5Stack Faces Keyboard has made a handheld uLisp computer:
Read about it on his blog here: Stand-alone uLisp computer (with code!)
His version of uLisp for the M5Stack is on GitHub: ulisp-esp-m5stack
Thanks to Max for permission to mention this.