History of Lisp Editing
D-Edit was already around when I got to PARC in late 1983.  The first thing I worked on was an Emacs in Interlisp-D.I think ITS Emacs (written in TECO) had paren matching before the CADR Lisp machines (what you call Zmacs, but it was EINE originally).The first Emacs written in Lisp was Multics Emacs (written by Bernie Greenberg) and it had paren matching when I used it but that was 81/82 timeframe.What do you call paren matching by the way?  Emacs always had structure navigation (c-m-F/B and c-m-U etc) in which case that support went back into the 1970s.(BTW the first Emacs-like editor for the lispms was EINE (Eine Is Not Emacs); it was replaced by ZWEI (Zwei Was Eine Initially).  Look at a German dictionary if that is not funny.  IIRC Zmacs was a renaming by Symbolics as part of their efforts to move beyond the AI lab implementation (While LMI/TI continued to sync back to the AI lab sources).