You can build s7 with -DWITH_MAIN and it comes up with a repl. The same repl is available separately as either repl.c (with repl.scm) or nrepl.c (with nrepl.scm). There are also examples in s7.html if you want to make your own. nrepl does not have a history buffer (it's available directly via the mouse and scrolling, but you need to use a terminal that can handle mouse events (not rxvt in particular)).
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