Everything takes practice.
You can make the goal - and the practice - less daunting with a little shift in perspective. That is, think interdependence. Don't focus on how your limbs work separately, focus on how they work together with each other. Work on how they interact, and the patterns that occur. between them, not what they're doing separately.
Obviously there's a starting point, and going slow is usually the best way. You can also write parts out and examine how the rhythms work as a whole.
You'll find that once you learm how your limbs work together, you can often switch/reverse the parts between hands, feet, and hands & feet, without much agony or thought.
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