Standard parser generator schemes separate parsing from tree building.
This allows one to design custom actions to build an AST, and fine tune its structure to the targeted langauge (including leaving out concrete syntax such as "parentheses").
The price is that one must not only specify the grammar, but one must also specify the rules for building the AST. And that makes defining a "grammar + tree builder" about twice as much work as just defining a grammar. When your grammars are tiny, this doesn't matter, but usually tiny grammars means "toy problem". With big real production gnarly grammars, this matters a lot; there's usually a bunch of initial churn in trying to get such grammars right and the AST building stuff just gets in the way during this phase. Clever people delay adding AST building rules till the churn phase is over, but that only partially works, and it turns out that you may want to reshape the grammar based on AST you want to build, so this delay actually increases the churn somewhat. One also pays a maintenance cost; if your grammar has any scale, you will change it, and then the AST building part must change, too.
My company builds a tool, the DMS Software Reengineering Toolkit, which contains a parser generator. We decided, the first to do so AFAIK, some 20 years ago, that this extra AST building step was too much work for the benefit for the many big grammars we expected to (and did) build. So we designed DMS to automatically build a concrete syntax tree as it parsed. Voila, write a grammar, get a parser and the tree is free. This decision has turned out to be a really good one.
The price is the final tree retains all the concrete syntax, e.g., the parentheses. While it may not look elegant, it turns out that this does not matter much in practice when manipulating trees (inspecting, traversing, analyzing, modifying, ...). We've traded a bit of inelegance for much easier tree building and grammar maintenance.
The ANTLR guy(!) decided for ANTRL4, unlike his previous ANTLR1/2/3 systems, to follow our lead and switch to building "ASTs" automatically from the grammar, as concrete syntax trees. (I don't know if you can actually write your own AST building rules to override the built-in feature for ANTLR4. Comments on this answer suggest that the way to get an AST from ANTLR4 is to walk the CST and build what you want. I'm not keen on that solution; it strikes me as paying the price for building and managing the AST, and also having the parsing overhead [time and space] of building the CST. If you only build small trees, maybe you don't care. For DMS, we regularly read thousands of files for processing together; space and time matter!)
For some discussion on how to make this a bit more elegant (effectively even more AST like), see my SO answer on ASTs vs. CSTs