The way to learn to touch is simple but annoying. Figure out how to hit backspace every time.
From here all you do is never look down. You hit the wrong key? Backspace. Try again. You can look at the keyboard sometimes, but not while typing.
It will take a while but eventually your error rate drops very quickly and you are good.
This process works very well on split keyboards.
https://en.m.wikipedia.org/wiki/Jellyfishbabies