@neriah --
@jeanwilson gives great advice on grouping letters and developing muscle memory, and also on trying a vertical variation of italics. When I'm practicing (whether a new or a familiar script), I often do that. And certainly, in the paleography textbook I'm writing, I present letters in those groups and advise students to practice them that way.
I'll also put in another plug for tracing, although I understand what you're saying about wanting to comprehend each letter intellectually and aesthetically - I personally find that intellectual understanding comes much later in my own learning process. Tracing really helps me separate out how I
think a letter should be formed, from how it actually is formed - it can help to separate the brain from the hand, and develop that muscle memory in the hand without the brain interfering. When I want to learn a new letter-form, I always trace it straight away! (both at the original size and also really big) It makes me feel like the scribe that made it is holding my hand and teaching me what s/he did to create it, like when I used to curl my hand around my children's hands, teaching them how to write and paint. I'm always joking that Adam Pynkhurst taught me English Batarde.
If you're already using guidelines with an angled or straight grid, you could also try putting the vertical grid lines closer together - Placing them at "n" distance apart will help your eye follow them more easily (as you'll be tracing directly over them with ascenders and descenders). Putting them closer together will also help you gauge letter width and spacing, both within and between words.
If you want to see letters interact with each other as you practice in groups, try putting an "i" in between the letters in the group you're working on. Then do it with a "u" in between" then "o" "e" and "a" as you work up to the next group.
--best wishes noodling in the new year! K