I don't mind the idea of figuring my own taxes, after all I can lookup all the numbers pretty easily, but the main obstacle to that is the tax instructions are impossible to parse.

We should require the IRS to release the tax forms in a machine-readable format, e.g., as open-source software. The human-readable instructions should merely be the spec. Other people can write nice interfaces on top of that. Then you can run the code on your phone to figure your taxes.