I program in Common Lisp professionally on a sizable team of other Common Lisp programmers, and I find Lisp to be much easier to explore and navigate than other languages, by a huge margin. Why? Lisp IDE’s don’t need to build indexes of your projects that go out of date or anything like that. IDE’s participate by interacting with the running Lisp image itself.

I’m not sure what you’re missing about syntax. Indentation by default gives an excellent view of what’s going on, and most editors color important symbols as needed.

I find the lack of syntactic noise makes you focus on the important aspects of the program in the big picture.