Preload practise

So all of you with Internal stackers or bots made for preloads, how do u guys get so good at manual stacking and controlling multiple functions at once. I am curious to know what your approaches are on “preload practise.”
Also what are your times per # cones stacked(e.g. 12 cones in 25 seconds)

Basically for us, we just practice preloads over and over to get good. Our new robots aren’t done yet but our old one did 12 cones in 30 seconds. It actually couldn’t stack 12, but that’s how much time it would take theoretically