Most use an IDE such as Emacs (paredit-mode and rainbow-parens) that handles automatic paren matching for you, so it's really a non-issue after the first week. The editor takes care of indentation, matching (so you don't have any dangling parens ever), and optionally colors matching pairs in the same color so you can easily tell what level they're at.

This is a fairly typical look: https://ericscrivner.me/wp-content/uploads/2015/06/rainbow-d...