[mynegation]

Sure you can write incomprehensible context-free grammar, but yes, in my opinion, context free languages tend to be easier to understand or at least understand unambiguously. Natural language (which is obviously very context-dependent if you can even apply this name to a language without formal grammar) is easy to understand but is not a good language for giving instructions to a computer (cue classic "Time flies like bananas").

Interestingly enough, I personally found understanding Lisp, once I got the idea of paradigm, pretty much instantly. I do not think that the reason for us not using Lisp is syntax, but rather a combination of non-traditional paradigm and difference from the mainstream imperative languages. On top of that you do need to keep a lot of context while looking at Lisp program, but this is execution context, not the grammar context.