My personal choice would be Clojure. I learned Racket and Common Lisp but haven't used them build something production-grade yet. I don't even know how to properly build, deploy and monitor a Racket server yet.
Racket is good but the toolchain and libraries are far behind Clojure. Especially Cider and Cursive are so great, and for libraries, there are a lot of solid ones like Ring/Compojure, interesting things like Duct, Pathom, Fulcro.
Common Lisp is also good, SBCL/Slime is solid, but it has its own idioms, a multiple paradigm Lisp-2 and feels pretty different from Scheme and Clojure. I found single-paradigm languages like Clojure and Scheme are sufficient to do most things already.
Java-world-wise, you don't have to deal with Java most of the time if you don't want to. There are plenty of Clojure libraries which of course follow Clojure idioms.