Shockingly enough it is actually possible to do decent ray casting and much more on the GBA despite the incredibly minimal compute budget.
Joshua Barretto has been working on a GBA port of Super Mario 64 with entire 3D levels, characters, and movements. In my opinion just incredible work:
There was actually a fully 3d platformer released for the system during it's production run, Asterix & Obelix XXL: https://www.youtube.com/watch?v=b0pknb4ghUA
The one that blew my mind as a kid was Need for speed underground:
loading story #41875883
loading story #41873905