Don't just look at your fingers. Once you make the chord so that it sounds like you want. Stop look at the bigger picture. What angle is your wrist at, feel the muscles in your wrist, back of your hand. Your fingers are not the only muscles that need to remember.

Make D 20 times; close your eyes and make D.
open your eyes to see how close you are. Now let go of the guitar neck, shake out your hand, close your eyes feel the neck on your palm, wrap your fingers around the neck. Think about the angle your wrist was in and how all the other muscles felt when you made the D chord. Make it. Open your eyes. How close are you?

I remember when I was a kid and my dad called me into the room Jose Feliciano not sure about the spelling the blind guy who played guitar on TV shows back in the 60's, 70's was playing. His hands flew up and down the neck. I was too young to figure out how he did it. But then the neck never moves or the frets and strings on it. It all about feel and confidence