All programming languages have horrible syntax (except maybe Forth). Some examples:
Statements are terminated by either a dedicated graphical character, in which case it's easy to forget the character and have a problem, or by a newline (or maybe a different white space character, but I haven't encountered that yet) in which case decent formatting of code may require a dedicated graphical character to indicate that the newline DOESN'T terminate the statement, in which case we have the same problem. Having newline-terminated statements without continuation character would be consistent, but would hamper readability because identifiers would need to be strictly limited in length to keep certain lines from exceeding available screen space (or alternatively readability would suffer from lines only being partially readable).
And that's before getting into the weeds of how mathematical notation is tricky (most people have learned infix notation at maths class in school, so they mightn't appreciate how horrible it is), how different types of brackets (round, square, curly) can have inconsistent semantics, the downsides to the various ways of indicating lexical blocks (brackets, white space, keywords,...), et cetera.
The ideal programming language would probably be one which allows switching between different syntaxes based on what works best for the user (for example, someone could write code in S-expressions, another person could have that code automatically translated into SRFI-119 Wisp expressions and work with it like that, a third person could then have it rendered into something more Lua-like,...). Which is something I think the Racket people are working on, but I may be mistaken.