Hi David, while I'm not a fingerstyle player, I think the question you ask about has relevance to any player ...
... anyways I have found the learning materials from Jamie Andreas to be very helpful. Her teaching wheelhouse is the physical fundamentals of putting fingers on strings in a way that leads to efficient playing and good tone. And all of the headspace stuff that makes that happen. It's a bit of "yoga for guitar" but I've found it to be very helpful.
www.guitarprinciples.com