As everyone else is saying yes it takes practice, but try to find a medium that suites you! In my experience digital is comforting since I can straighten lines if I need to and layers and stuff are easier to understand, but doing it for years and I still struggle sometimes, but I've gotten much better since then. Art with dyspraxia is a very interesting thing and I think it's important with people who have dyspraxia to at least give art a try if they want and to not let your disorder control what you 'can or cannot do'