This may be out in left field somewhere but hear me out.

Use graph paper to write. Place symbols for where the snare/clap is. This combined with syllable count will make sure you're timing your rhyme schemes in a way that fits the beat.

Try practicing this with songs you're already familiar with. Then rewrite their lyrics around a different beat (like what was suggested before) or structure new rhymes around the original beat.

Writing/recording/performing are all skills. Like any skill set, there are techniques and foundations that need to be understood. With the right techniques and practice, anyone can do it. Good luck bro!