Have you tried out Pict3D [1]?
There is also a library from Matthew Flatt that can create 3D Text / 
extruded pathes: [2]

Personally I currently use opengl [3], these bindings support higher opengl 
versions than the [4]
(which only support opengl 1.5 according to its documentation)

I can't say exactly up to which opengl version [3] has working bindings, 
these bindings were automatically generated, but that stopped working at 
some point.
(Apparantly the input that was used for the generation isn't provided for 
recent opengl versions anymore, so the generator has to be fixed or 
replaced to work with a different input/description)

[1] https://docs.racket-lang.org/pict3d/index.html
[2] https://docs.racket-lang.org/pict3d-die-cut/index.html
[3] https://docs.racket-lang.org/opengl/index.html
[4] 
https://docs.racket-lang.org/sgl/index.html?q=opengl#%28idx._%28gentag._0._%28lib._sgl%2Fscribblings%2Fsgl..scrbl%29%29%29

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