Not that I'm aware of. Probably because it's stateless and therefore non-deterministic: if you went from some form f to include it's parent, it would include f's siblings too. Then it won't know how which sibling to select "down" into. Just guessing, though 🤷
Parinfer-rust does this. https://github.com/eraserhd/parinfer-rust
A long time ago, I switched from paredit to parinfer and I've never looked back. It is quite different, and it's not for everyone, but it makes a lot of sense for the way I think about editing code
The overall idea is that you almost never have to add or remove parentheses directly. Rather, you align/indent your code according to common Lisp/Clojure conventions and parinfer places your parentheses for you based on your indentation.
Interesting! What about slurping and barfing when items are on the same line?
initial support for clojure was merged into the master branch of nvim-treesitter: https://github.com/nvim-treesitter/nvim-treesitter/pull/628
amazing!