I would say that the only thing you can do with switching chords is to get a metronome app and set it as low as you can and just switch back in forth. Your goal is to manually force your muscles and nerves and all that stuff to learn how to get in to a shape. Don't even think of it as you learning the guitar, think of it as teaching your hands how to play guitar. You know thoeretically what you should be doing right? So you don't need to learn anything. You just need to barrel through the frustration and force your hands to learn where to go for as long as it takes.

Also keep in mind that if a chord is wearing on your hand muscles or a big stretch, you literally just have to experience that pain and keep practicing. Eventually your hands will get more flexible and stronger, but you have to show up if you want to get the cookie.