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This works on most major DEs

1. Install xcape on your distro
2. Create file .config/autostart/xcape.desktop with contents

[Desktop Entry]
Type=Application
Name=Shift to parenthesis mapping
Exec=xcape -e "Shift_L=parenleft;Shift_R=parenright"
X-GNOME-Autostart-enabled=true
NoDisplay=false