That chapter tells Swift’s closure expressions have a clean, clear style, with optimizations that encourage brief, clutter-free syntax in common scenarios.
As programming beginners, I really do not think so.
I agree with you. From my experience, all of the variants of omissions are very confusing for beginners I have tried to get into Swift (and it was even before the SE-0279 "controversy").
I'd say that in the end, the syntax is fine - for somewhat experienced developers. However I think there is certainly a steep learning curve compared to other essential Swift features.
I'd say that you have be patient with this feature in particular.
Things like Oprator Methods are IMO common syntax among languages (for example [1, 2, 3].reduce(0, +) vs. Haskell foldl(+) 0 [1, 2, 3]).
If by escaping closures you mean the @escaping keyword, you will find such annotations to be common in Swift. However, such annotation are also not unheard of - see for example the Python decorators.