With operator precedence infix is not ambiguous. Brackets are a convenience but not necessary to form an expression. However when parsing you have to resolve each precedence level in precedence order (e.g., $^,[*,/],[+,-]$).
A postfix expression is written exactly in computation order:
$e0\ e1\ o1\ ... (ek\ ok) ... eN\ oN$
- $r = o1(e0,e1)$
- $rk = ok(r[k-1],ek)$
- $rN = oN(r[N-1],eN)$
Infix is subjectively thought by many to be easier for humans to read and write.
There is no reason why brackets couldn't be added to postfix or prefix with the obvious meaning, but it is generally not done as those formats are intended for machines rather than humans.