It's definitely a process.  I'm somewhere around "advanced beginner" to "intermediate" in my skills.  I knew music when I started but had never played a guitar.  Not to mention I'm left handed and decided to learn guitar right handed.  These tips are how I went about it:

1. Start with two easy chords that are similar - requires moving or just lifting 1 finger.  Like E to Em or A to A7 requires lifting one finger.  Or C to Am requires moving only one finger so the others to can stay in place like an anchor or reference point.


2. Proceed just like the instructors advise.  Slow tempo (like 60bpm, that's 1 beat per second).  Play the chord on beat one and then use beats 2, 3, and 4 to change (gives you 3 seconds) and be ready to play the next chord on the next beat 1.  Repeat the process to change back.


3. You may need to adjust the tempo a little faster or slower (too slow for me and my brain would wander and I mess up, too fast and my hands and fingers wouldn't sync up).


4. I progressed by playing the same chord on beats 1 and 3 and then change for the next measure.  Then I played on 1, 2, and 3.  Beat 4 gave me the rest to make the change.  I was still around 60bpm.


5. I did this just a few minutes of my practice session so I wouldn't get bored.


6. As I got comfortable I experimented with increasing the tempo by 5bpm.  Then I would try a new chord or chord combination.


7. I still do this as part of my warm up.


8. I'm working on barre chords now with this same method.  I can't change barre chord shapes yet, but I'm improving at moving one shape up and down the neck.


9. I use the metronome to help tell me how I am improving.


10. As you continue, some changes will come easy.  Others like C to G may take longer to get comfortable and good.

I hope some of this helps.