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I was taught by someone who really understood that it really is just geometry and as long as your first position is correct and you turn to the right angles, it's simple. The only time I really screw up is if there's someone behind me or in front of me keeping me from setting up properly.
Something that helps me that I think a lot of people overlook is that you simply need to steer the front in order to point the back wheels where you want to go because they always track in a straight line. The front can easily shift left and right with small movements if the front of your car is in the wrong position, but there's no way to shift the back wheels side to side without starting over completely.