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Editing s-expressions is a nightmare without some kind of automatic help.I used to write C and C++ code in (non-vim) vi, with only autoindent, and it was fine. I could also type the spaces, if I had to.
For s-expressions, like in a Lisp, you want autoindent a bit more, and some kind of of paren-matching/highlighting is also important.
Fortunately, editors have been doing autoindent and paren-matching for decades. And once your editor is formatting your code correctly, it's pretty visual, not textual.
And few people write any code in something like non-vim vi or notepad.exe anymore, so I see no reason to think less of a language for wanting an editor/IDE developed in the last couple decades.
There's no need for paredit, AFAIK, but paredit is another thing for which s-expressions are especially well-suited, relative to most other syntaxes. (You can also do paredit-like structural-based navigation and editing of JS, for example, but you have to have a clear model of the syntax structure, not only in the tool, but also in the programmer's head.)