I’ve always had trouble developing new motor skills. It took me four attempts to pass the driving test and my inability to learn dancesteps is truly remarkable.
Touch tying is therefore a complete masydteyeu ayuidi dmer (last few words were typed with me looking at the screen, not my fingers).
Invention of the day is therefore a simple feedback mechanism. Direct a webcam onto your hands from above and position the resulting image somewhere near your text editor window. It takes a little getting used to but it seems to work -if you’re as incorrigibly bad at this sort of thing as me.
There may also be some mileage in using audio feedback here. A keyboard with two-stage keys would be capable of ‘saying’ the letter you were just about to get wrong, when its key was only partly depressed.