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I struggled for ages with C, and only played Fmaj7 for years before I played barre chorrds to get an F – the mini F NEVER worked for me.
How did I get over it… Well for some of it I just let that C chord sound bad with muted strings and buzzing just to get through a song. Otherwise it was a matter of being patient enough to slowly put my hand in position every day and in a very bored manner plucking each string until I had a clean chord. If I knew then what I know now, I would have stopped that practice once I got the clean chord each time but… hindsight
Eventually your fingers learn and it gets easier. If you can get something that looks like a D and 2 of three strings ring, then go ahead and play your song. It probably won’t sound as bad as you think.
If your D is only muting the high e string for instance, it will still sound fine when you strum the song. not a soul will notice unless they have “perfect pitch” and are just being picky.You can do this.