It takes tons of practice to get good speeds. Tons of repetition. You'll eventually build muscle memory so that you don't struggle as much with typing quickly.

Try to focus on the keys that you have problems with, and find tests online that can help you with those specific keys. (For example, I used to have a lot of problems with x, z, q, and p. I focused on tests that let me practice my reflexes on those keys, and I was able to conquer my issues... for the most part, although I still struggle with p quite often.)

Hope this helps!