You are going to hear this a lot with guitar but there is truth to it: practice and repitition are your best friends.

My chords are usually clean now, even on necks as narrow as 39mm, but it didn't start that way. Wrist position, elbow position (moving it in and out) are all factors and it takes trial and error and repitition to find what works for you.

But having said that, some chords are so hard for me, I find work arounds. It's cheating, but for me, as long as I can play a reasonable rendition of the song and my son is good it (he plays the drums) we just move forward and jam to a backing track with the guitar and drums removed (https://www.karaoke-version.com).

How good you want to be depends on how much effort you can reasonably put into it. I am about the same age as you and this is just fun for me.