This is orthogonal to
parametric polymorphism
Higher-rank types are not orthogonal to parametric polymorphism, instead they are a special case. You can see this when you realise that rank-k polymorphism is a subsystem of System F (the paradigmatic typing system for parametric polymorphism) for any k. The let-polymorphism of the ML-family is just rank-1. See Chapters 22 and 23 of Pierce's great "Types and Programming Languages". Higher-kinded types are
problematic for inference
That is true, but already type inference for rank-3 polymorphism is undeciable, and the same is true for System F polymorphism.In practise, Haskell needs only few kind-annotations to make kind inference possible. This is helped by unannotated kind variables having kind * in Haskell (IIRC).