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I do like Loraine suggests. I have a song that goes from strumming 2 strums of G to 2 strums of F. I just practice that change over and over. I might do it for 5 -15 minutes at a time. You may find it easier at first to do two strums each of D, the, 2 of F. That extra 1/2 second between chord changes can be enough to help your brain prepare for the next change. Also don’t be afraid to do it a seemingly silly slow speeds. 30 BPM or even 20 BPM.
At first yes you will be doing the F Barre chord by placing one finger at a time. That is OK. Over time it will become more automatic. One thing to try just to break up the routine is try playing just part of the F chord but placing multiple finger at a time.
For example from the D chord move just your ring and pinky finger to the 3rd fret, A and D strings. You may not be able to place all your finders at the same time but you can work on placing 2 or 3 at a time. Don’t worry about the middle or index just move your ring and pinky. D chord to ring and pinky. Then try D chord to ring pinky and middle. Maybe just try D chord to Index. My point is mix it up a little sometimes.
When playing Barre chords there are two different issues. One is moving to a relatively complex shape quickly and, two is getting all the strings to ring out cleanly. You can work on these skill separately.
Basically just do LOTS of repetitions changing to and from the F chord. You don’t have to do it perfectly. Precision will come with time.
I hope these tips are clear.