I think no matter the language the syntax will disappear over time and your brain will learn to look at the character matrix and directly see logical constructs, moreover this will always apply cross-language to other languages with similar syntax. Fit example, I primarily work in TS, I have decent amount of experience in other C-style, and to me Rust is easily readable with very little experience actually using it.
I don't think anyone who write Lisp-like languages professionally doesn't use tools like parinfer/paraedit, where balancing parenthesis is not something you have to do.
Not with him.
But I might be wrong here, it's simply hard for me to imagine someone writing with lisps professionally going the route of textual editing when structural editing is right there.
http://www.lispworks.com/documentation/lw71/EDUG-M/html/edus...
http://www.lispworks.com/documentation/lw71/EDUG-M/html/edus...
In my experience, the Lisp enlightenment comes in stages, two big ones are 1) s-expression parsing you describe here, and 2) grokking "code is data".
WRT. s-expressions enlightenment, I vividly remember when it happened to me. Few months into learning Lisp, I bought a hardcover SICP and, for some reason, decided to do exercises in it on paper. Few exercises in, as I was writing Lisp code with a pen in hand, suddenly something clicked in my head - like my brain JIT-compiled a new processing module - and from then on, I no longer needed to mentally count or track the parens. I just knew how many and where they were, it dropped to semiconscious level. Ever since, I'm very comfortable with s-expressions; in fact, I prefer them as a notation to Algol/C-like code.