I have the same problem BUT it doesn't take me years to fix it. Right now, I'm getting into the groove of Traveler's approach using Alex's method of RSD.
So I've read Traveler's stuff several times, wrote down the steps and even recorded it on my phone as I read each process step. Next, I sarged infield (some 3 minutes away from my apartment) for 1 to 2 hours and then got back to my place and made a quick run down whether I followed the steps to the letter. I also played the recordings as I sleep. This went on for more or less 3 to 4 weeks.
I kept making the same mistakes for several days BUT as I sarged and implemented the steps day-by-day, the mistakes became lesser and my sarges using this approach had become smoother.
A few more weeks I think and I'll get this perfect.
It's basically practice makes perfect. I think this is the formula:
(Thought + Action) x 7 days x 4 weeks = Very Minimal Mistakes
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Approach. Open. Escalate. Isolate
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