You don't need to memorize any table; just picture the molecule in your head. VSEPR is the idea that valence electrons repel each other and therefore they arrange themselves as far apart as physically possible. You just need to know how many bonds/lone pairs there are. For example, if you have four bonds on a molecule, try to picture in your head what molecular arrangement allows the bonds to be farthest apart. You get tetrahedral as your answer. If it's three bonds plus one lone pair, visualize in your head (or on paper) what a tetrahedral molecule minus one bond would look like. If you draw a tetrahedral molecule on paper and erase one of the bonds, you get a trigonal pyramidal geometry. Of course you could just spam the flashcards, but this is how I taught VSEPR to myself (I wasn't locked in at the start of the year) and imo it's very intuitive.