The redundant end tag is a feature which makes it easier to write and edit by hand. E.g. imagine you have a <section> of text more than a screenfull - how do you see when the section ends? Which closing parenthesis is it? This is an important feature because document are often large, deeply nested structures.
Parentheses may seem nicer than angle brackets if you are used to Lisp (C programmers probably think curly brackets are clearly nicer), but note that you are replacing the angle brackets with parentheses and quotes, both which have to match. So it is at least twice as tricky and error-prone to write by hand, and the quotes are less visually helpful since they don't have "direction".
Of course any of these problems can be alleviated by a fancy editor, but XML was intended to be writable and editable without special software.
XML is of course just as extensible, since you use elements for complex structures, not attributes.
S-expressions work fine in Lisp, but programming code is differently structured than documents. For example, in code you typically (hopefully!) don't have several screens of code deeply nested.