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Beeswarm plot?
Some sort of dodge transform?
See https://observablehq.com/d/29e9f5c9191789f6 for a "plugin" approach (though in this case I used a forceSimulation not the dodge transform, but it's going to be very similar).
An approach could be to add a "compact" option to Plot.dodge https://github.com/observablehq/plot/pull/815