When my fingers hurt after too much time on the keyboard, I take a break and let my fingers rest. i do not practice typing intensively but I rather practice extensively but with less in one sitting that helps

practice the right way (right touch typing) A LOT it improves over time by practice i learned touch typing i started to use touch typing back then i was only in 20s now I am at 60s and it really imroves over time for me that was 3 months of about 10 minutes daily practice