This is a valid criticism, but it's not lisp specific.

We know somewhat how to control accidental complexity in systems that are highly constrained and don't let you deal well with essential complexity. And we know somewhat how to give you powerful tools to deal with essential complexity.

We haven't figured out in general how to make systems powerful enough to deal with the range of essential complexity, but constrained enough that this sort of accidental complexity isn't common.

Of course a lot of real world systems don't do a great job of either.