One thing that has stuck from the book The Einstein Factor is about how either of Win Wenger or Richard Poe (the writers) learned to play the piano by aural feedback.
What he did was to play the piano (untrained) and catching it on tape. Then he sat down and listened to it. I don’t know how often he repeated this, but regularly, such as every day or so, he would play and listen in this way. Gradually, he began to adapt. (I’ll have to continue this at a later time; my daughter just woke up.)