It will take time and practice. I remember going to tight places not long after I passed to the point where if I got them again I’d dread them all day only to find the yard is much bigger than I remember… of course it’s not but the comfort with the vehicle has become bigger.
You’ll still make a pigs ear of it occasionally, everyone does and it’s normally the easiest ones. I go to a place with tight bays, always full either side and can get in easy enough. Other day I had two empty bays either side and struggled so much it was untrue.
If I can give one tip it’s… plan your exit. By that I mean sort your way out first. Someone said turn round before you get blocked… yep. But also use Google. I often look at a drop and check the lay I of the land and sometimes I’ve gone a different way if it makes it easier for me.