that muscle memory is just practice. and here is how it works.

learn one chord, practice it enough so you can get your fingers there quickly, you need to be perfect with it.

learn a second chord, practice it just like the first one. then practice switching inbetween the two.

repeat the processs over and over and before you know it youll be jamming and then you will have fallen to the dark side/ become a hopeless addict/whatever you want to call it.