Nope. Tried Gun Emacs with such a mode for a bit recently because that came as a default in a Clojure editing recipe I found, but having using versions of EMACS to edit LISP since 1980 I found it more annoying than helpful, there are times when I want to mangle the text and fix the parens afterwards.
For me the two keys are smart indention and the habit of counting off each opening paren at the beginning of an indented line as I close it. I did this sort of work on GoldHill's EMACS clone in the brief period I worked for them, getting it to blink the opening paren when the point is positioned to the right of the closing paren.
More specifically, we don't focus on the parens. And in the image, they're still there, just a very light yellow....