No disrespect for your ability to read Arduino code, but no amount of experience will tell you why the code was written a certain way. Did the programmer not know of any alternatives? Did they specifically choose this one method because it was superior to the alternatives? Did they just run out of time? Is it due to regulatory requirements? The list goes on. To expand further:
FTA:
> but ultimately reading code remains much more complex than writing it no matter what.
I disagree. If reading code is complex, it's because that code was not documented well. If you've written a complex algorithm, that presumably took you hours or days to develop, the proper documentation should allow somebody to understand it (or at least grasp the major points) in a few minutes.
If you're not documenting your code to that level, i.e. to allow future devs to take less time to read and understand than it took you to write--let alone add additional information went into why you made the decisions you did--then you're doing something wrong.
FTA:
> but ultimately reading code remains much more complex than writing it no matter what.
I disagree. If reading code is complex, it's because that code was not documented well. If you've written a complex algorithm, that presumably took you hours or days to develop, the proper documentation should allow somebody to understand it (or at least grasp the major points) in a few minutes.
If you're not documenting your code to that level, i.e. to allow future devs to take less time to read and understand than it took you to write--let alone add additional information went into why you made the decisions you did--then you're doing something wrong.