awk 'BEGIN{FS="\\[location="}{print $2}' input.txt | awk 'BEGIN{FS="("}{print $2}' | awk 'BEGIN{FS=")"}{print $1}'

$awk -v OFS="\t" -F "=|\(|\..|\)" '/^>/ {print $11,$12}' test.fa                                                                                                                        
1807    2169

$ awk -v OFS="\t" -F "complement|\(|\..|\)" ' /^>/ {print $6,$7}' test.fa

input:

$ cat test.fa                                                                                                                                                                        
>lcl|NC_001133.9_cds_NP_009332.1_1 [gene=PAU8] [locus_tag=YAL068C] [db_xref=SGD:S000002142,GeneID:851229] [protein=seripauperin PAU8] [protein_id=NP_009332.1] [location=complement(1807..2169)] [gbkey=CDS]

echo ">lcl|NC_001133.9_cds_NP_009332.1_1 [gene=PAU8] [locus_tag=YAL068C] [db_xref=SGD:S000002142,GeneID:851229] [protein=seripauperin PAU8] [protein_id=NP_009332.1] [location=complement(1807..2169)] [gbkey=CDS]" \
| awk -F "location=" '{print $2}' | \
| cut -d "(" -f2 | cut -d ")" -f1 \
| awk -F "." 'OFS="\t" {print $1, $3}'