Hi there. I learned by learning where to place my fingers and slowly getting faster at the fumbling around. It's highly frustrating, but it does get you there. Rather than try to memorize the feeling of your hand away from the guitar where it will vary and you won't notice, I'd recommend practicing slowly getting your fingers in a very good place o the strings and then speeding up.
One thing to pay attention to is what fingers stay in the same place, or move a small distance during changes and use these to anchor your hand as you get the other ones down.
And everyone has been through it. It's OK. It gets better. Enjoy the journey - it's a lot of fun
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Martin
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