Most use an IDE such as Emacs (paredit-mode and rainbow-parens) that handles automatic paren matching for you, so it's really a non-issue after the first week. The editor takes care of indentation, matching (so you don't have any dangling parens ever), and optionally colors matching pairs in the same color so you can easily tell what level they're at.
After a few years, I turned off rainbow-parens-mode indefinitely. I realized that I no longer see parentheses and instead I see the structure and order, or in the case of badly-written code - chaos and anarchy.
It is sad that the usual first reaction of people seeing Lisp code is distaste. I myself wasted years of my life because of that. I had many opportunities to learn Lisp, but I dismissed them multiple times until I tried Clojurescript. Stupid me.
This is a fairly typical look: https://ericscrivner.me/wp-content/uploads/2015/06/rainbow-d...