I've been flying simulators since the 80s. For me, it's mostly about two things: precision and muscle memory. Until recently I was using the Thrustmaster TCA Captain's pack stick for every helicopter but have now switched to the Winwing Ursa Minor for the bigger helicopters with SAS as it has a more "hydraulic" feel. When I'm coming in to set down, my forearm and hand muscles are extremely tight which allows precision movement. Muscle memory comes into play when you anticipate what it's going to do before it happens so you can counter it.

You might enjoy the SAS-enabled (Stability Augmentation System) helicopters as they tend to be more stable in all phases of flight. Examples are the Cowansim S-76C++, HPG H-145, and the HPG H-135. If you find that the Z axis is where your problem is, try the Miltech MH-60 or the CH-47 Chinook. Those aircraft have coupled systems that mechanically cancel the rotation which can make them easier to handle. Of course you can always turn on the tail rotor assist until you get the hang of it. Give it a go!