Considering everything will run on Windows,  it could be easy to use COM / OLE Automation:

- making your delphi part as COM Server

- connecting as client in your Lazarus app, so you can call directly objects and functions defined in the Delphi app.

There is a bit of stuff to learn about COM to complete this but it's well documented and directly available on both sides, Delphi and Lazarus.

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