Nudging is the secret of manual beatmatching.
Back in my vinyl days I would be lightly running my thumb along the dots on the side of the platter of my 1200 to slightly slow the record without changing the pitch. I’d run my finger in circles on the label of the vinyl to speed it up.
Riding the pitch is another trademark of going manual. On CDJs and midi you can also use the + and – pitch bend buttons, as well as the side of the jogwheel.
It just takes practice. Start with simple beats and move up to larger. You should play doubles and work to keep them on one another, or play two simple beat records for a while and practice adjusting.