There's an important trick to designing relay lenses especially when the chief ray angle at the image plane is high. You have to pay attention to how the exit pupil of the primary lens is matched to the entrance pupil of the relay lens. We go into gory detail!

0:00 Introduction
02:10 Cute Corporate Jingle
02:17 What could possibly go wrong?
07:34 Aperture of the Relay Lens
10:09 Pupil Imaging with a Field Lens
11:42 Designing the Relay Lens
14:20 Designing the Field Lens
18:53 Combining the Primary, Field and Relay Lenses
20:49 Summary