We study parallel fault-tolerant quantum computing for families of homological quantum low-density parity-check (LDPC) codes defined on 3-manifolds with constant or almost-constant encoding rate. We derive generic formula for a transversal $T$ gate of color codes on general 3-manifolds, which acts as collective non-Clifford logical CCZ gates on any triplet of logical qubits with their logical-$X$ membranes having a $\mathbb{Z}_2$ triple intersection at a single point. The triple intersection number is a topological invariant, which also arises in the path integral of the emergent higher symmetry operator in a topological quantum field theory: the $\mathbb{Z}_2^3$ gauge theory. Moreover, the transversal $S$ gate of the color code corresponds to a higher-form symmetry supported on a codimension-1 submanifold, giving rise to exponentially many addressable and parallelizable logical CZ gates. A construction of constant-depth circuits of the above logical gates via cup product cohomology operation is also presented for three copies of identical toric codes on arbitrary 3-manifolds. We have developed a generic formalism to compute the triple intersection invariants for 3-manifolds. We further develop three types of LDPC codes supporting such logical gates: (1) A quasi-hyperbolic code from the product of 2D hyperbolic surface and a circle, with almost-constant rate $k/n=O(1/\log(n))$ and $O(\log(n))$ distance; (2) A homological fibre bundle code with $O(1/\log^{\frac{1}{2}}(n))$ rate and $O(\log^{\frac{1}{2}}(n))$ distance; (3) A specific family of 3D hyperbolic codes: the Torelli mapping torus code, constructed from mapping tori of a pseudo-Anosov element in the Torelli subgroup, which has constant rate while the distance scaling is currently unknown. We then show a generic constant-overhead scheme for applying a parallelizable universal gate set with the aid of logical-$X$ measurements.