OK fair point actually. You just gotta write some lisp code yourself (I'm a fairly new lisper although I had emacs for a while now and have dabbled in some elisp to edit my config) to appreciate how the parentheses are actually helpful when you write things. To read things, well-written lisp code will be properly indented, or else a reasonably powerful editor (emacs with sly, etc) is able to indent the code for you

Take a look at my (shameless plug) eratosthenes sieve function i wrote just yesterday

(defun range (start end)
  (if (< start end)
      (cons start (range (1+ start) end))))

;; Checks if d is a factor of n
(defun factorofp (d n)
  (zerop (rem n d)))

;; Sieve in lisp??
(defun sieve (n)
  (let ((primes (range 2 n))
        (curprime 2))
    (maplist (lambda (tail)
               (delete-if (lambda (n)
                            (factorofp curprime n))
                          (cdr tail))
               (setf curprime (cadr tail)))
             primes)
    primes))

u don't have to understand it. But the general principle is, things that are indented at the same level are arguments to the same function. In other words, notice that the delete-if and the setf are indented together. So they must be part of the same "argument:" namely, the body of the anonymous function lambda. So really, you don't have to count the parentheses or anything. The indentation makes things clear and unambiguous.

Other things that aid in reading are, obviously, patterns that you pick up along the way. Do not fear the parentheses. Embrace them