Exactly. You have to drop hooks into the lexer from the parser, and by the time you're done you end up with just as much code. Only it's slower than a recursive-descent parser would be, and a lot of the time parsing speed really matters because it shows up as user-visible latency.
While I have a strong dislike for lex/yacc and descendants, the "hooks" you need for C are trivial. As far as I remember the only thing you need is an ability for the lexer to check whether or not a given identifier is a variable or type.
Even that is only needed if you want to report more specific information up to the parser. E.g. Clang doesn't. In Clang it is instead the parser that looks up the information in order to figure out what type of identifier it has received.
And what are the alternatives? I've always wanted a parser object (in C++ anyway) that I can add constructions to, feed it scanner output and have it build a symbol table and semantic tree. Does such a thing exist?