I had done somwhat about this issue. Please see my brog,

http://blog.livedoor.jp/s-koide/archives/1915880.html

http://blog.livedoor.jp/s-koide/archives/1916259.html

http://blog.livedoor.jp/s-koide/archives/1916982.html

http://blog.livedoor.jp/s-koide/archives/1917649.html

http://blog.livedoor.jp/s-koide/archives/1918198.html

http://blog.livedoor.jp/s-koide/archives/1918908.html

Unfortunately, they are in Japanese but you can use DeepL or others, and you can read Lisp code, of cource.

Any question will be welcome, of cource.