I'm not extremely familiar with the details of incremental parsing, but I have used Cursorless, a VSCode extension based on tree-sitter for voice controlled structured editing, and it is pretty powerful. You can use the structured editing when you want and also normal editing in between. Occasionally the parser will get things wrong and only change/take/select part of a function or what have you, but in general it's very useful, and I tend to miss it now that I am no longer voice coding much. I seem to remember that there was a similar extension for emacs (sans voice control). treemacs, or something? Anyone used that?

[0] https://www.cursorless.org/