I won't edit Lisp code without an editor that does what Emacs will do with the following configuration:
(define-key lisp-mode-shared-map "[" 'insert-parentheses)
(define-key lisp-mode-shared-map "]" 'move-past-close-and-reindent)
The former inserts balanced parentheses. If you give it a numeric prefix argument, it inserts that many nested pairs. By default, it inserts one. If you have a text region marked, it encloses that region in the innermost inserted pair. That means that you'll never open a parenthesis that's not closed.
The latter is harder to explain, as it's used less frequently. It's more of a navigation command than an insertion command. It confirms that you're done editing the current form and moves the cursor up, out, and past it, preparing for the next likely insertion.
With these keys bound, one no longer needs to use the Shift key to access the parentheses. Also, this leaves the parentheses keys bound as normal, for when sexp repair or a literal parenthesis character is required. I stole the bracket keys because they're used so infrequently in Emacs Lisp and Common Lisp. The bracket characters are still accessible with meta key bindings:
(defmacro make-key-inserter (def)
"Substitute for `self-insert-command'."
`(lambda (arg)
(interactive "*P")
(insert-char ,def (prefix-numeric-value arg))))
(define-key lisp-mode-shared-map "\M-[" (make-key-inserter ?\[))
(define-key lisp-mode-shared-map "\M-]" (make-key-inserter ?\]))
It's not essential to use Emacs, but don't settle for less with another editor that can't at least match this capability. There's also a whole family of commands for navigating and manipulating the sexp tree as a tree. Understanding why that's valuable will require you to fumble around for a while until you stop seeing syntax and start seeing the tree.