Yes. There comes a moment in which you suddenly stop minding parentheses. For me it was when I started reading SICP and doing its exercises on paper. After writing a couple Lisp expressions by hand, something clicked in my brain, and since then I don't need to count parentheses anymore.
I strongly suspect following the Lisp style of indentation and placing parens (closing parens go together, instead of one per line like in Algol-derived languages) is vital to achieving that.