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Is guile a good choice for going through SICP one day?

Yes. You will be able to recreate the examples and problems exactly as they are written using Guile (or any other R6RS-compliant Scheme).

What about things that are not part of R6RS like the picture language or parallel-execute?

I'm currently doing this and am in the middle of chapter 3. So far, everything has worked fine with guile.