Other than the games they wrote entirely in GOAL, all of their PS3+ games use a series of lispy DSLs implemented in Racket that get compiled to C and C++ for defining data to be loaded in the game and dependencies between these data, light scripting, dialogues, stuff like that.
There's a talk by one of the engine devs at RacketCon from a few years ago on youtube about how they use these DSLs and how they came to be: https://youtube.com/watch?v=oSmqbnhHp1c
IIRC, GOOL was a lisp dialect used for scripting Crash Bandicoot; later ND games were written in GOAL (i.e. not just scripting, but the majority of the game was written in lisp).
