Is that true universally or only among wealthier countries? I know, for example, that it's significantly easier for me to visit Ethiopia than for my brother-in-law to visit here (and he has a clean record and significant relationships to ensure his return-- things nobody asked me about for my visa).
(As someone who worked at an [outgoing] visa expeditor): It varies widely. It's OFTEN true, and it's at least very true that if we have to get tourist/business visas, it's because they have to get them here (who made the first move may vary). The complicatedness isn't always the same, though.
Like - for example, most countries only have one form per category, possibly with a few addendums for "you were born in one of these Bad Countries" "you have extra things to declare" etc. That's not reciprocal: if it's one page, it's one page for everyone, and the US is ...not a one page type place
But things like "you have to HAVE a visa, regardless of if one is more of a pain than the other" ARE often reciprocal. ...and things like "you have to pay an exorbitant fee" can ALSO be reciprocal.