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Some things that help me learn hammers ons. All of us had issues with and all of us have different finger palm wrist joints so we had to find what would work for us.
How much of your palm/ finger joint is above the treble side of the Fret Board? I can see all of my palm finger joint when I do hammers. This gives you a better downward angle to hammer the fret clean and true with out hitting any other strings.
Where is your thumb located on the back of the neck?
If I am going to hammer on 2 or 3 frets further up the neck my thumb usually is located between the Fretted note and the fret I am going to be hammering down on. Sometimes the thumb is located in the middle arch of the neck and sometimes located more up on the bass side of the back of the neck. This depends on how close to the fret board/neck I need to position my palm. Short fingers need to have the palm close or resting on the fret board edge. Longer finger not so much. If I place my palm too close to the fret board edge i have a harder time being accurate with my finger down stroke to the fretted area.If you use hammer on’s, pull offs slides, slur’s long enough and a lot it will just become natural.