TL;DR: If I find a library I'm using would need dependency versioning, I consider that library broken and find (or write) an alternative.

You can always just add a version check and error out if it's too outdated. The thing there isn't an easy way to do is say "this needs a version of that system lower than X" but it would be unusual for a system to intentionally break backwards compatibility (or for an unintentional break to not be fixed relatively quickly after being discovered); usually if there is the semver equivalent of a "major version" change in lisp, the system-name itself gets changed.