ANTLR 4 supports direct left recursion, but not indirect or hidden left recursion. You can address the situation above by explicitly expanding the optional construct.
direct_abstract_declarator
: direct_abstract_declarator '(' parameter_declaration_clause ')' cv_qualifier_seq? exception_specification?
| direct_abstract_declarator '[' constant_expression? ']'
| '(' parameter_declaration_clause ')' cv_qualifier_seq? exception_specification?
| '[' constant_expression? ']'
| '(' abstract_declarator ')'
;