Preheat the oven and position the rack in the center so the crisp bakes evenly throughout.
Toss the rhubarb with lemon zest, lemon juice, sugar, cornstarch, and vanilla until everything is well coated and evenly combined.
Transfer the rhubarb mixture to a baking dish and place it on a rimmed baking sheet to catch any bubbling juices while baking.
Bake the rhubarb filling until it starts bubbling, then gently stir it to redistribute the fruit and juices evenly.
In a separate bowl, combine the almond flour, oats, sliced almonds, oat flour, tapioca flour, brown sugar, cardamom, and salt until evenly mixed.
Stir the melted butter into the topping mixture until large crumbly clusters begin to form throughout the bowl.
Sprinkle the topping evenly over the baked rhubarb filling, covering the surface without pressing it down too firmly.
Return the dish to the oven and bake until the topping becomes deeply golden and the filling bubbles around the edges.
Let the crisp cool slightly before serving so the filling can thicken properly.
Scoop into bowls and serve with vanilla ice cream if desired.