I'll plug Parinfer as the best tool I've found for removing the pain of editing s-expressions. It's done wonders for my own workflow, and there's almost nothing to learn before you can use it effectively (compare to Paredit which requires you to know quite a few shortcuts before becoming productive)
I almost never have to think about the parentheses while editing, any more than I would braces in a c-like language. It's really freeing. It's also fully integrated into Cursive so there isn't even a setup step if you're using that already.
I've been using Instant Space Switcher (which got a small callout in tfa) as a targeted fix for this, and it's lifechanging