You might be interested in "Awaken Healing Energy Through the Tao" by Mantak Chia [1] (there's also "Healing Light of the Tao" but it goes on a bit and TBH it isn't very easy to learn from a book).
Tai Chi - like yoga asanas actually - can be done as purely physical movements, or you can be more mindful and trace your awareness through your body along these pathways to tap into the energetic/qi level. It goes for any exercise really - I do it in the gym on the cross-trainers. I just relax more and more and feel my hip bones pumping tingles up from my feet to my head and back down. I get off feeling very different compared to just doing it as a purely physical exercise.
It'd probably only take you a couple of days practice to feel something moving in the Microcosmic Orbit - definitely not years of practice.
[1] https://www.amazon.co.uk/Awaken-Healing-Through-Tao-Circulat...
My teacher is very much about awareness and the way it moves through the body; the interplay of will, qi, and strength. I'm slow mostly because I started out with some pretty gruesome hip immobility issues, and have treated taiji like physical therapy for the past two years. I'm only just coming out of the gross mechanical problems now, and starting to become more aware of the subtler issues at play.