Hi,
You can use abbreviations (ab) for that.
Something like this: ab ( () will print the closing ) once you hit a non-alphanumeric key (space, return, esc).
Put these in your .vimrc (or /etc/vimrc if you want it globally):
ab ( ()
ab [ []
an { {}
For details type 'help abbreviation' in command mode.
Hope this helps.
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