For Racket specific macro tooling syntax-parse [0] in combination with syntax classes is usually the suggested starting point. Hygenic with pattern matching and a bunch of other features for parsing s-expression grammars. As mentioned down-thread Greg Hendershott's Fear of Macros [1] is a good starting point for a number of folks. The curriculum for Racket School 2018 [2] also has exercises that help introduce the syntax-parse tooling.

0. https://docs.racket-lang.org/syntax/Parsing_Syntax.html 1. https://www.greghendershott.com/fear-of-macros/ 2. https://summer-school.racket-lang.org/2018/plan/