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From sources including the Wikipedia page, we find that the NXT is built around a Microchip (formerly Atmel) AT91SAM7S256 microcontroller, a distant ancestor of the SAM D parts that now power several Arduino, MicroPython, and CircuitPython boards. This chip contains a built-in bootloader program called SAM-BA which supports simple "read from memory" (traditionally known as PEEK) and "write to memory" (traditionally known as POKE) commands. This (deceptively!) seems like it'd work!
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I’d like to point out that you can use this for any Common Lisp development, not just Lisp-Stat. Contributions and bug reports are welcome and encouraged.