Tcl has arguably been as successful as Guile, but neither has exhibited longevity; both have been in decline for many years. Emacs has switched to Guile (maybe?), and Guile has gotten a major overhaul this decade (lots of smart people with a lot of experience like Scheme, so not a big surprise), but the other "high profile" projects using it are really not very high profile at all (Guix, Gnucash, GDB, all pretty niche projects with limited user bases).
Tcl got a lot of effort put into it by pretty big companies for a while, and it's actually a pretty good language, IMHO. It has significant limits, sure, but so did Guile for a long time. And real software has been built with both.
It almost feels like a personal vendetta rather than any significant technical reason, even though it's written as though, "Obviously, we should choose the technically superior extension language that, by the way, does not yet exist in a fully usable form."
Was there a licensing beef with Tcl, as well, or is it purely that RMS just really wanted everything to use Scheme?