I was never good at typing until I got a job programming. Never took a course or anything so I'm definitely not using proper form, but if you use a keyboard enough your fingers learn where the keys are.
A course might help, but like all muscle memory, the trick is to just practice it enough times that you don't need to think about it anymore.
They're concerned about the precedent set if they allow taxation to be included as part of regulatory powers. If they allowed this, then precedent is set for the next Dem president to come in and just start taxing companies that don't align with their policy goals. So something like taxing carbon emissions no longer needs Congressional approval.