Does anybody find this Scheme code readable?

No, the code looks ugly.

I don't find it readable. I immediately see a lot of repetition, which means an opportunity for helper functions/macros. However the so-called "hygienic macros" in Scheme seem pretty confusing to me. I prefer non-hygienic macros like in Lisp.

My biggest Scheme program is [1]. I wrote it years ago, but I can still read it. Using sanely named variables is key.

[1] https://github.com/tshatrov/scriptfu/blob/master/animstack.s...