Sadly, the vast majority of coders never make it to "a significant amount of Lisp". Most who do tend to be very positive about Lisp, so it's not that the language veterans give it a bad word-of-mouth reputation. Quite the opposite.
There is clearly an "approachability problem" to Lisp, and it seems worth trying to solve. (If nothing else, the more popular a language gets, the more opportunities you will have to get paid to write in it for a living.)
Parens come up every single time the word Lisp is mentioned in "mixed company"--that is, both Lispers and non-Lispers. It's not just the most common complaint about the language, but the dominant complaint. (Thought experiment: What's the #2 complaint newbies make about Lisp? And how much longer did it take you to answer that question than #1?)
Originally John McCarthy had intended to use M-Expressions for Lisp, e.g. "car[cons[(A . B); x]]", but programmers preferred the parens-and-whitespace of S-Expressions instead, so they became the default.
There's no reason to dismiss the possibility of another such evolution, again based on nothing more than programmer preference.
No matter how familiar or useful you might find the existing approach, it's always possible that it can be improved.