I have had a different approach to this that I have used for some time, which is very simple and I apply it to a range of punctuation and it quickly became part of my muscle memory.
Anytime I hit ‘(’ I immediately hit ‘)’ and then have KM move my cursor back in between the two brackets. This is good because it also means that I keep my finger on the shift key while pressing ( ) in quick succession.
I use the same approach for all the following pairs:
( )
[ ]
{ }
’ '
" "
_ _