You can still use VSCode and just use the Vim plugin.
Vim is not an editor, it's a language you speak with your editor. Like with real language learning, some of it is just rote memorization.
There are, however, some tricks that I find really help. The first is to find mnemonics for the different actions. Some are obvious, for example (d)elete or (c)hange. Some require a little imagination, like un(t)il (like in 'til).
Finally, there's some level of logic to many related things. For example, the CAPITAL version of an action is generally a "louder" more aggressive/stronger version. So (a)ppend is just "insert after current cursor position", whereas (A)PPEND! means "insert at the very end of this line".
Just like with languages, if you use them long enough, they start to "make sense", and "feel right". I don't have to translate "I want to append at the end of the line" to the correct keybinding, I simply "speak" to the editor in a way that "feels" right.