Smalltalk and Common Lisp are both image-based programming languages where the compiler and debugger are always available. I think debugger-oriented programming is much more common in Smalltalk than in Lisp (at least I prefer to leave the debugger back to REPL pretty often), but I think it's certainly possible to adopt. The Slime/Sly environments for emacs might accept a few patches to facilitate that programming style better.