I've always found motor skills very interesting. I'm naturally good at symbolic reasoning but pretty poor at motor learning. For symbolic reasoning tasks, like maths or programming, I just roll stuff around in my head and get better at it. But motor skills I have to physically practice and there is an inaccessible (at least to me) level of unconscious processing where improvement takes place. E.g. performing a handstand is conceptually trivial (stack your weight over your hands) but actually doing it is another matter. In learning to handstand I found I have gradually become more aware of my body's position when upside down but the process of doing so just happens without any conscious oversight. I do handstands and the next day I'm magically better at them.
Anyway, for learning about learning motor skills I've been enjoying the Perception & Action podcast: https://perceptionaction.com/ One key take away is importance of exploring the movement space. In a musical context this would be, I think, jamming. Take a theme and explore. In the context of handstands this would be different entries, movement within the handstand, other related balancing (e.g. headstand).